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upper side of the frame. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 548, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the black tabletop to form a stable grasp."}, {"label": "goal", "start_step": 633, "end_step": 785, "id": "fa046e7c-26a9-40ea-8e41-89cb3151a9e8"}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg for assembly."}, {"label": "subtasks", "start_step": 780, "end_step": 861, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 786, "end_step": 947, "id": "74b90c04-0b14-4ab7-86f9-f428244d4d09"}, {"label": "subtasks", "start_step": 862, "end_step": 967, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 948, "end_step": 1106, "id": "f433704b-c6c7-4b55-a871-6767cca13fbe"}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves towards the purple rod on the wooden base."}, {"label": "goal", "start_step": 1107, "end_step": 1256, "id": "bfca82a0-4bb0-49c2-bd49-93527635ea71"}, {"label": "subtasks", "start_step": 1155, "end_step": 1244, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand grasps and adjusts its grip on the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}, {"label": "goal", "start_step": 1257, "end_step": 1538, "id": "8abc66df-da55-43fa-8a95-db2f907009d5"}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: transport: Right hand transports the white cylindrical block above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1529, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand aligns and inserts the white cylindrical block onto the purple vertical post to complete the assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "goal", "start_step": 1539, "end_step": 1676, "id": "8e09e279-1d8a-4029-a6ae-44b62e966264"}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand adjusts its grasp on the green cube on the black tabletop."}, {"label": "goal", "start_step": 1677, "end_step": 1979, "id": "95fc606f-3550-4313-8c83-02d9945eb56f"}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the green cube from the tabletop and transports it to the top of the target peg on the wooden tray."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: place: Right hand places the green cube onto the target peg on the wooden tray until it is supported by the peg."}, {"label": "subtasks", "start_step": 1755, "end_step": 1979, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: hold: Right hand holds the green cube on the peg of the wooden tray without moving."}, {"label": "subtasks", "start_step": 1980, "end_step": 2047, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downward from the wooden block base to approach the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1980, "end_step": 2129, "id": "ac67e2c4-5116-4a0d-8cd3-0570f1317c8c"}, {"label": "subtasks", "start_step": 2048, "end_step": 2129, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 2130, "end_step": 2309, "id": "aecc0098-1e13-4271-a08c-006720a3c36f"}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand aligns the white cylindrical block with the protruding rod on the green block of the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2309, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: press: Right hand presses the white cylindrical block downwards along the rod to fit it onto the green block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2369, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table to the right of the stacked blocks."}, {"label": "goal", "start_step": 2310, "end_step": 2468, "id": "25c7fe5a-cd02-465a-a7a8-b4d755d962e2"}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand contacts the white cylindrical block on the table, fingers close to adjust the grip on the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "goal", "start_step": 2469, "end_step": 2873, "id": "a3488053-1400-43f5-a38e-69ae8df50368"}, {"label": "subtasks", "start_step": 2498, "end_step": 2541, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: transport: Right hand transports the white block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2542, "end_step": 2849, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand mates the white block onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2850, "end_step": 2864, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: release: Right hand releases the white block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 2865, "end_step": 2879, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: retreat: Right hand retreats away from the purple rod on the wooden base."}, {"label": "goal", "start_step": 2874, "end_step": 3002, "id": "1ee83659-fa09-418d-8b22-e2d0f83e5e85"}, {"label": "subtasks", "start_step": 2880, "end_step": 2917, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2918, "end_step": 3029, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 3003, "end_step": 3230, "id": "4e63fdb9-e045-4199-b6f6-ba68c2c9252c"}, {"label": "subtasks", "start_step": 3030, "end_step": 3059, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 3060, "end_step": 3104, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: place: Right hand lowers the white cylindrical block to place it onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 3105, "end_step": 3217, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: press: Right hand presses the white cylindrical block down onto the peg to secure it in position."}, {"label": "subtasks", "start_step": 3218, "end_step": 3224, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the rack."}, {"label": "subtasks", "start_step": 3225, "end_step": 3284, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downwards towards the green cube on the table."}, {"label": "goal", "start_step": 3231, "end_step": 3374, "id": "0d9913b4-93f0-48a8-8832-f06689bd046b"}, {"label": "subtasks", "start_step": 3285, "end_step": 3314, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 3315, "end_step": 3374, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 3375, "end_step": 3397, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift: Right hand lifts the green ring off the black table surface."}, {"label": "goal", "start_step": 3375, "end_step": 3536, "id": "fc921c24-e896-490f-b598-cd1ca3e243e4"}, {"label": "subtasks", "start_step": 3398, "end_step": 3427, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: transport: Right hand transports the green ring above the wooden tray with stacked cylinders."}, {"label": "subtasks", "start_step": 3428, "end_step": 3524, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand mates the green ring onto the white cylinder with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 3525, "end_step": 3539, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: release: Right hand releases the green ring and separates from it."}, {"label": "home", "start_step": 3568, "end_step": 3598, "id": "yEVkBYUnVDRBrwcGLpjpo"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: retreat: Left hand moves upward away from the tabletop operation area with empty hand. | Right hand: reach: Right hand moves forward towards the white hexagonal block on the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 60, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves forward towards the white hexagonal block on the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand contacts the white hexagonal block, fingers close to establish initial grasp."}, {"label": "subtasks", "start_step": 112, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift: Right hand pulls the grasped white hexagonal block upward to remove it from the purple rod."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand grasps the green cube on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 292, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the green cube off the table, then transports it upward to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand mates the green cube onto the purple peg by aligning the cube's hole with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: release: Right hand releases the green cube by opening fingers and separating from the cube."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand mates the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 548, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the black tabletop to form a stable grasp."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg for assembly."}, {"label": "subtasks", "start_step": 780, "end_step": 861, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 862, "end_step": 967, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1244, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand grasps and adjusts its grip on the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: transport: Right hand transports the white cylindrical block above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1529, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand aligns and inserts the white cylindrical block onto the purple vertical post to complete the assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand adjusts its grasp on the green cube on the black tabletop."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the green cube from the tabletop and transports it to the top of the target peg on the wooden tray."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: place: Right hand places the green cube onto the target peg on the wooden tray until it is supported by the peg."}, {"label": "subtasks", "start_step": 1755, "end_step": 1979, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: hold: Right hand holds the green cube on the peg of the wooden tray without moving."}, {"label": "subtasks", "start_step": 1980, "end_step": 2047, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downward from the wooden block base to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2129, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand aligns the white cylindrical block with the protruding rod on the green block of the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2309, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: press: Right hand presses the white cylindrical block downwards along the rod to fit it onto the green block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2369, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table to the right of the stacked blocks."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand contacts the white cylindrical block on the table, fingers close to adjust the grip on the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "subtasks", "start_step": 2498, "end_step": 2541, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: transport: Right hand transports the white block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2542, "end_step": 2849, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand mates the white block onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2850, "end_step": 2864, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: release: Right hand releases the white block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 2865, "end_step": 2879, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: retreat: Right hand retreats away from the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2880, "end_step": 2917, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2918, "end_step": 3029, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 3030, "end_step": 3059, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 3060, "end_step": 3104, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: place: Right hand lowers the white cylindrical block to place it onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 3105, "end_step": 3217, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: press: Right hand presses the white cylindrical block down onto the peg to secure it in position."}, {"label": "subtasks", "start_step": 3218, "end_step": 3224, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the rack."}, {"label": "subtasks", "start_step": 3225, "end_step": 3284, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downwards towards the green cube on the table."}, {"label": "subtasks", "start_step": 3285, "end_step": 3314, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 3315, "end_step": 3374, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 3375, "end_step": 3397, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift: Right hand lifts the green ring off the black table surface."}, {"label": "subtasks", "start_step": 3398, "end_step": 3427, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: transport: Right hand transports the green ring above the wooden tray with stacked cylinders."}, {"label": "subtasks", "start_step": 3428, "end_step": 3524, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand mates the green ring onto the white cylinder with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 3525, "end_step": 3539, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: release: Right hand releases the green ring and separates from it."}], "episode_index": 0}
+{"source_uid": "a239c8ffbf672b92", "num_frames": 3518, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from its initial outer-left position forward to the home position in front of the body, remaining empty. | Right hand: reach: Right hand moves from its initial outer-right position toward the green hexagonal block placed front-left of the wooden peg assembly on the black table surface, staying empty."}, {"label": "goal", "start_step": 0, "end_step": 270, "id": "1fb4c3f8-c383-47af-abca-1dc93a5000e4"}, {"label": "valid", "start_step": 0, "end_step": 3483, "id": "BwPcLSts_n1poITFUf-sC"}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves from its initial outer-right position toward the green hexagonal block placed front-left of the wooden peg assembly on the black table surface, staying empty."}, {"label": "subtasks", "start_step": 112, "end_step": 269, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making fine continuous adjustments to finger placement and wrist angle to form a stable grip, with the block remaining supported by the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand holds the green hexagonal block and lifts it vertically upward to completely separate it from the black work surface."}, {"label": "goal", "start_step": 271, "end_step": 444, "id": "401085ad-3380-4757-a60f-c19a880262b9"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block upward to position it directly above the leftmost purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without visible movement of the hand or block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns and fits the green hexagonal block onto the purple rod on the wooden base to complete the block assembly."}, {"label": "goal", "start_step": 445, "end_step": 741, "id": "bb3e70c5-564e-41c7-a2f2-a9baa7292723"}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small grip adjustments to secure the block."}, {"label": "subtasks", "start_step": 562, "end_step": 734, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to securely grasp the white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 742, "end_step": 906, "id": "d84d8a1e-4e59-4d08-8a5e-11794dcbe956"}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward to fully separate it from the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and horizontally to position it directly above the purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it vertically to fit the block onto the peg until it rests on the green block below."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press_release: Right hand presses down on the white cylindrical block on the leftmost purple peg to seat it fully, releasing contact with the seated block."}, {"label": "goal", "start_step": 907, "end_step": 1092, "id": "f7347ef6-4cc3-47aa-8d36-2044c870c7ef"}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the peg board area toward the white hexagonal nut resting on the black table surface, making no contact with other objects during movement."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the nearby white hexagonal nut on the table surface, making small finger adjustments to establish a grip."}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand maintains a stable grip on the white hexagonal nut on the black table surface without visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grip on the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 1093, "end_step": 1254, "id": "04659222-da54-4c40-a371-08baf9f613dc"}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the black table surface and moves it upward to position it above the target purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple rod, then slides the block down the rod to seat it on the existing stack."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod of the wooden assembly without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to close around and form a stable grasp on a white hexagonal object mounted on the wooden assembly base."}, {"label": "goal", "start_step": 1255, "end_step": 1398, "id": "8cfc0953-4731-4228-adb9-6b1266ce544a"}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal object off the wooden assembly base and moves it downward toward the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the white hexagonal object until it is fully supported by the black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal object steadily against the black table surface with no observable movement of the hand or the object."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to securely grasp the white hexagonal nut resting on the table adjacent to the wooden base."}, {"label": "goal", "start_step": 1399, "end_step": 1548, "id": "5a4fa282-378a-4cec-a789-ea02f8ae18cc"}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, makes small positional adjustments, and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the purple peg of the wooden pegboard."}, {"label": "goal", "start_step": 1549, "end_step": 1656, "id": "d27a9fd7-c429-4f35-959e-749eaa156e50"}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward with empty fingers to approach the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the black table surface, making small adjustments to form a stable grip."}, {"label": "goal", "start_step": 1657, "end_step": 1818, "id": "792293ed-b1ac-4c6f-b9f3-a788ae5aa8dd"}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the dark table surface, then transports the block upward and toward the purple rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden base, then moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden block assembly area toward the white hexagonal block on the dark table surface with an open hand."}, {"label": "goal", "start_step": 1819, "end_step": 1989, "id": "424d0713-be6d-4d60-92de-3ae81dc0a2ba"}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to adjust and form a stable grasp."}, {"label": "subtasks", "start_step": 1920, "end_step": 1979, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table surface without any visible movement."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1990, "end_step": 2247, "id": "c7c2aa7c-60d1-4f29-9379-e86452662260"}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then moves it upward and forward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2099, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the assembly base, makes slight rotational and positional adjustments, and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 2100, "end_step": 2234, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without obvious movement."}, {"label": "subtasks", "start_step": 2235, "end_step": 2279, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press_release: Right hand presses the white hexagonal block on the purple vertical rod downwards to secure it to the stacked assembly on the wooden base, opening fingers to release the block."}, {"label": "goal", "start_step": 2248, "end_step": 2379, "id": "6f7d2856-b2d0-416c-95f4-ca9985117b58"}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downwards and rightwards toward the white hexagonal nut placed on the black table surface near the wooden base, approaching the target without contact."}, {"label": "subtasks", "start_step": 2310, "end_step": 2399, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers closing around the nut with small continuous adjustments to establish a stable grip."}, {"label": "goal", "start_step": 2380, "end_step": 2775, "id": "fccb0150-af07-40b0-aa7c-8fdc4356ca99"}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface, moving it upward and horizontally to position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2430, "end_step": 2684, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 2685, "end_step": 2797, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasped white hexagonal block fitted onto the purple vertical rod."}, {"label": "goal", "start_step": 2776, "end_step": 2913, "id": "9735665a-2ef5-4b18-959f-b5da3b3eeb4f"}, {"label": "subtasks", "start_step": 2798, "end_step": 2827, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downwards toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2828, "end_step": 2857, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2858, "end_step": 2909, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the gripped white hexagonal block steadily without observable displacement or posture change."}, {"label": "subtasks", "start_step": 2910, "end_step": 2939, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the small white cylinder resting on the dark table surface."}, {"label": "goal", "start_step": 2914, "end_step": 3066, "id": "c178bf2d-d364-42f7-8a68-84f2d1f0cb59"}, {"label": "subtasks", "start_step": 2940, "end_step": 2961, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped small white cylinder off the table surface and transports it upward to the position directly above the vertical purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 2962, "end_step": 3059, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the hollow center of the small white cylinder with the purple rod, moves the cylinder downward along the rod, and makes small positional adjustments to seat the cylinder onto the rod."}, {"label": "subtasks", "start_step": 3060, "end_step": 3127, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward to approach the green cube on the dark table surface."}, {"label": "goal", "start_step": 3067, "end_step": 3183, "id": "d58d1884-2b4a-458e-a9a0-7d7a5ba35c37"}, {"label": "subtasks", "start_step": 3128, "end_step": 3209, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green cube to form a grasp, with the cube remaining on the table surface."}, {"label": "goal", "start_step": 3184, "end_step": 3456, "id": "a6bf190c-68f2-45f5-99c9-6ed88377562c"}, {"label": "subtasks", "start_step": 3210, "end_step": 3239, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward to the position directly above the target white cylindrical post on the wooden rack."}, {"label": "subtasks", "start_step": 3240, "end_step": 3277, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green block with the target white cylindrical post and lowers the block to fit it onto the post, establishing the assembly relationship."}, {"label": "subtasks", "start_step": 3278, "end_step": 3449, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green block fitted on the cylindrical post without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 3450, "end_step": 3464, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens its fingers to release the grip on the green block, separating the fingers from the block surface."}, {"label": "home", "start_step": 3484, "end_step": 3517, "id": "GjYWEBTCfF-cvz7WlC4IF"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from its initial outer-left position forward to the home position in front of the body, remaining empty. | Right hand: reach: Right hand moves from its initial outer-right position toward the green hexagonal block placed front-left of the wooden peg assembly on the black table surface, staying empty."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves from its initial outer-right position toward the green hexagonal block placed front-left of the wooden peg assembly on the black table surface, staying empty."}, {"label": "subtasks", "start_step": 112, "end_step": 269, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making fine continuous adjustments to finger placement and wrist angle to form a stable grip, with the block remaining supported by the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand holds the green hexagonal block and lifts it vertically upward to completely separate it from the black work surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block upward to position it directly above the leftmost purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without visible movement of the hand or block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns and fits the green hexagonal block onto the purple rod on the wooden base to complete the block assembly."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small grip adjustments to secure the block."}, {"label": "subtasks", "start_step": 562, "end_step": 734, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to securely grasp the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward to fully separate it from the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and horizontally to position it directly above the purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it vertically to fit the block onto the peg until it rests on the green block below."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press_release: Right hand presses down on the white cylindrical block on the leftmost purple peg to seat it fully, releasing contact with the seated block."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the peg board area toward the white hexagonal nut resting on the black table surface, making no contact with other objects during movement."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the nearby white hexagonal nut on the table surface, making small finger adjustments to establish a grip."}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand maintains a stable grip on the white hexagonal nut on the black table surface without visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grip on the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the black table surface and moves it upward to position it above the target purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple rod, then slides the block down the rod to seat it on the existing stack."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod of the wooden assembly without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to close around and form a stable grasp on a white hexagonal object mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal object off the wooden assembly base and moves it downward toward the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the white hexagonal object until it is fully supported by the black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal object steadily against the black table surface with no observable movement of the hand or the object."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to securely grasp the white hexagonal nut resting on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, makes small positional adjustments, and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward with empty fingers to approach the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the black table surface, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the dark table surface, then transports the block upward and toward the purple rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden base, then moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden block assembly area toward the white hexagonal block on the dark table surface with an open hand."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to adjust and form a stable grasp."}, {"label": "subtasks", "start_step": 1920, "end_step": 1979, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table surface without any visible movement."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then moves it upward and forward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2099, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the assembly base, makes slight rotational and positional adjustments, and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 2100, "end_step": 2234, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without obvious movement."}, {"label": "subtasks", "start_step": 2235, "end_step": 2279, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press_release: Right hand presses the white hexagonal block on the purple vertical rod downwards to secure it to the stacked assembly on the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downwards and rightwards toward the white hexagonal nut placed on the black table surface near the wooden base, approaching the target without contact."}, {"label": "subtasks", "start_step": 2310, "end_step": 2399, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers closing around the nut with small continuous adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface, moving it upward and horizontally to position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2430, "end_step": 2684, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 2685, "end_step": 2797, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasped white hexagonal block fitted onto the purple vertical rod."}, {"label": "subtasks", "start_step": 2798, "end_step": 2827, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downwards toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2828, "end_step": 2857, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2858, "end_step": 2909, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the gripped white hexagonal block steadily without observable displacement or posture change."}, {"label": "subtasks", "start_step": 2910, "end_step": 2939, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the small white cylinder resting on the dark table surface."}, {"label": "subtasks", "start_step": 2940, "end_step": 2961, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped small white cylinder off the table surface and transports it upward to the position directly above the vertical purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 2962, "end_step": 3059, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the hollow center of the small white cylinder with the purple rod, moves the cylinder downward along the rod, and makes small positional adjustments to seat the cylinder onto the rod."}, {"label": "subtasks", "start_step": 3060, "end_step": 3127, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward to approach the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 3128, "end_step": 3209, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green cube to form a grasp, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 3210, "end_step": 3239, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward to the position directly above the target white cylindrical post on the wooden rack."}, {"label": "subtasks", "start_step": 3240, "end_step": 3277, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green block with the target white cylindrical post and lowers the block to fit it onto the post, establishing the assembly relationship."}, {"label": "subtasks", "start_step": 3278, "end_step": 3449, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green block fitted on the cylindrical post without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 3450, "end_step": 3464, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens its fingers to release the grip on the green block, separating the fingers from the block surface."}], "episode_index": 1}
+{"source_uid": "22f853ceaaf824eb", "num_frames": 3288, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:move_up: Left hand moves upward at the left side of the table, keeping empty. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left of the wooden base, remaining empty."}, {"label": "goal", "start_step": 0, "end_step": 234, "id": "103eaef6-309f-4a1c-9db0-a8f8dc9613bc"}, {"label": "valid", "start_step": 0, "end_step": 3251, "id": "61hGd1QwyjL-vO9oWQli7"}, {"label": "subtasks", "start_step": 38, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left of the wooden base, remaining empty."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand adjusts its grip on the green block on the left table surface, with fingers slightly moving to stabilize the grasp."}, {"label": "goal", "start_step": 235, "end_step": 441, "id": "1103f35c-3af4-4a3d-9a5e-7f2170a3e1f1"}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the leftmost peg of the wooden board."}, {"label": "subtasks", "start_step": 278, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the green block with the leftmost peg and inserts it downward until the block reaches the bottom of the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green block on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the green block by opening its fingers until the hand separates from the block."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: idle: Right hand remains empty above the leftmost green block without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: press_release: Right hand presses the green block down onto the leftmost purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 442, "end_step": 678, "id": "ce65e431-5c68-4916-bc41-4484f9cc0662"}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 548, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 679, "end_step": 831, "id": "81def4d7-d317-4cdc-aa85-ea3dd3f65e93"}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it upward to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it downward onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand mates the white cylindrical block onto the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 832, "end_step": 963, "id": "f2b338f8-431f-4501-abde-ae763f6f493c"}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand reaches toward the left white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 981, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 964, "end_step": 1158, "id": "842056c8-e3ac-4f78-8d9d-ec97461215e4"}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it upward and toward the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1117, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple peg by aligning the hole with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: transport: Right hand holds the white hollow cylinder and moves from the upper left area of the wooden base to the position above the right purple rod."}, {"label": "goal", "start_step": 1159, "end_step": 1311, "id": "26641733-2e1c-47b8-b226-2eec60885aa2"}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the white hollow cylinder with the right purple rod and inserts it downwards onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hollow cylinder on the right purple rod without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white cylindrical block on the table in front of the wooden board, with fingers closing around the block."}, {"label": "goal", "start_step": 1312, "end_step": 1494, "id": "5903f614-24e7-45d8-9ab5-a700a3cc0e31"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it upward to the position above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the white cylindrical block on the right purple peg of the wooden base."}, {"label": "goal", "start_step": 1495, "end_step": 1605, "id": "d06d6cb8-d5f4-4d2c-87e6-46d9d545c635"}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves downward to approach the green cubic block on the work surface below the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the work surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green cubic block on the work surface without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1606, "end_step": 1758, "id": "4527a4bf-fbd0-4ab5-87fc-ea5ec1888850"}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it toward the wooden pegboard with vertical pegs."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the green cubic block with a peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green cubic block fitted on the wooden peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the purple block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1759, "end_step": 1872, "id": "6392e429-f15a-4666-a1e2-85b387fb20b1"}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white hexagonal cylinder on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1873, "end_step": 2085, "id": "21166526-cfc1-4339-a83d-7d288e96c9c1"}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift: Right hand lifts the white hexagonal cylinder upward off the black table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: transport: Right hand transports the white hexagonal cylinder upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand mates the white hexagonal cylinder with the purple peg by aligning the cylinder's hole with the peg and inserting it downward onto the peg."}, {"label": "subtasks", "start_step": 2002, "end_step": 2077, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the white hexagonal cylinder by opening fingers and separating from the cylinder."}, {"label": "goal", "start_step": 2086, "end_step": 2196, "id": "75432ae9-0f2a-4694-9ede-ec95c1e8b18e"}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand reaches toward the white cylinder on the table next to the wooden board, moving downward and leftward."}, {"label": "subtasks", "start_step": 2145, "end_step": 2189, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white cylinder on the table next to the wooden board, with fingers closing around the cylinder to adjust the grip."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white cylindrical block on the black table without moving."}, {"label": "goal", "start_step": 2197, "end_step": 2652, "id": "9da6225b-10e9-47e7-9489-1c0476c8e1c7"}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the black table and transports it upward and leftward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2287, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by aligning its central hole and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2288, "end_step": 2639, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base, fingers separate from the block."}, {"label": "goal", "start_step": 2653, "end_step": 2735, "id": "ac97acf0-95ca-41ee-8de3-a8ad18086777"}, {"label": "subtasks", "start_step": 2655, "end_step": 2691, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves down-right toward the white cylindrical block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 2692, "end_step": 2767, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface, fingers close and adjust to stabilize the grip."}, {"label": "goal", "start_step": 2736, "end_step": 2934, "id": "606aa226-22ac-471d-a0e8-6a35c10cc7ae"}, {"label": "subtasks", "start_step": 2768, "end_step": 2797, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white block off the table and moves it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2917, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the white block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the white block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2925, "end_step": 2977, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves downward and rightward from the area of the wooden rack with white cylinders toward the green cube on the table, approaching the target cube."}, {"label": "goal", "start_step": 2935, "end_step": 3045, "id": "d9c10faa-8f3e-4014-bbb5-3cf01972dcc8"}, {"label": "subtasks", "start_step": 2978, "end_step": 3007, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing around the cube to establish a stable grip."}, {"label": "subtasks", "start_step": 3008, "end_step": 3044, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 3045, "end_step": 3074, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand adjusts its grasp on the green cubic block resting on the black table surface."}, {"label": "goal", "start_step": 3046, "end_step": 3228, "id": "50efd2f3-3278-4910-ad30-cb9f2ca8c61e"}, {"label": "subtasks", "start_step": 3075, "end_step": 3104, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table surface and transports it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 3105, "end_step": 3157, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the green cubic block with the top of the white cylindrical post on the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 3158, "end_step": 3217, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green cubic block fitted on the white cylindrical post without moving."}, {"label": "subtasks", "start_step": 3218, "end_step": 3231, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases its grasp on the green cubic block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 3232, "end_step": 3239, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: retreat: Right hand moves upward and rightward away from the green cubic block on the post."}, {"label": "home", "start_step": 3252, "end_step": 3287, "id": "oiqhGBqyu_ICxo7SKzoJ3"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:move_up: Left hand moves upward at the left side of the table, keeping empty. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left of the wooden base, remaining empty."}, {"label": "subtasks", "start_step": 38, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left of the wooden base, remaining empty."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand adjusts its grip on the green block on the left table surface, with fingers slightly moving to stabilize the grasp."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the leftmost peg of the wooden board."}, {"label": "subtasks", "start_step": 278, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the green block with the leftmost peg and inserts it downward until the block reaches the bottom of the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green block on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the green block by opening its fingers until the hand separates from the block."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: idle: Right hand remains empty above the leftmost green block without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: press_release: Right hand presses the green block down onto the leftmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 548, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it upward to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it downward onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand mates the white cylindrical block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand reaches toward the left white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 981, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it upward and toward the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1117, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple peg by aligning the hole with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: transport: Right hand holds the white hollow cylinder and moves from the upper left area of the wooden base to the position above the right purple rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the white hollow cylinder with the right purple rod and inserts it downwards onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hollow cylinder on the right purple rod without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white cylindrical block on the table in front of the wooden board, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it upward to the position above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the white cylindrical block on the right purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves downward to approach the green cubic block on the work surface below the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the work surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green cubic block on the work surface without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it toward the wooden pegboard with vertical pegs."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the green cubic block with a peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green cubic block fitted on the wooden peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the purple block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white hexagonal cylinder on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift: Right hand lifts the white hexagonal cylinder upward off the black table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: transport: Right hand transports the white hexagonal cylinder upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand mates the white hexagonal cylinder with the purple peg by aligning the cylinder's hole with the peg and inserting it downward onto the peg."}, {"label": "subtasks", "start_step": 2002, "end_step": 2077, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the white hexagonal cylinder by opening fingers and separating from the cylinder."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand reaches toward the white cylinder on the table next to the wooden board, moving downward and leftward."}, {"label": "subtasks", "start_step": 2145, "end_step": 2189, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white cylinder on the table next to the wooden board, with fingers closing around the cylinder to adjust the grip."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white cylindrical block on the black table without moving."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the black table and transports it upward and leftward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2287, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by aligning its central hole and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2288, "end_step": 2639, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base, fingers separate from the block."}, {"label": "subtasks", "start_step": 2655, "end_step": 2691, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves down-right toward the white cylindrical block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 2692, "end_step": 2767, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface, fingers close and adjust to stabilize the grip."}, {"label": "subtasks", "start_step": 2768, "end_step": 2797, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white block off the table and moves it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2917, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the white block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the white block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2925, "end_step": 2977, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves downward and rightward from the area of the wooden rack with white cylinders toward the green cube on the table, approaching the target cube."}, {"label": "subtasks", "start_step": 2978, "end_step": 3007, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing around the cube to establish a stable grip."}, {"label": "subtasks", "start_step": 3008, "end_step": 3044, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 3045, "end_step": 3074, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand adjusts its grasp on the green cubic block resting on the black table surface."}, {"label": "subtasks", "start_step": 3075, "end_step": 3104, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table surface and transports it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 3105, "end_step": 3157, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the green cubic block with the top of the white cylindrical post on the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 3158, "end_step": 3217, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green cubic block fitted on the white cylindrical post without moving."}, {"label": "subtasks", "start_step": 3218, "end_step": 3231, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases its grasp on the green cubic block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 3232, "end_step": 3239, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: retreat: Right hand moves upward and rightward away from the green cubic block on the post."}], "episode_index": 2}
+{"source_uid": "2613cd88ed58e494", "num_frames": 3259, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "goal", "start_step": 0, "end_step": 204, "id": "470c34e0-8075-480d-94a4-151314081686"}, {"label": "valid", "start_step": 0, "end_step": 3227, "id": "I1MMwJMFYobdJCqhedD83"}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green hollow block located in front of the wooden base on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the green hollow block, with slight adjustments to form a stable grip."}, {"label": "goal", "start_step": 205, "end_step": 600, "id": "24f33c52-df8b-488d-8e1b-1182cf293439"}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 330, "end_step": 517, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the leftmost purple rod to fix it in position."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper wooden base towards the white hexagonal object on the black table surface."}, {"label": "goal", "start_step": 601, "end_step": 774, "id": "ab6cfed2-c989-45ae-b861-29773225da24"}, {"label": "subtasks", "start_step": 638, "end_step": 787, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the white hexagonal object on the table."}, {"label": "goal", "start_step": 775, "end_step": 1023, "id": "7b736892-a68a-4e58-9913-cbf319526277"}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 959, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, inserting it down along the peg until it is placed stably."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the purple peg and the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area above the wooden base towards the white hexagonal block on the black table, without touching the block."}, {"label": "goal", "start_step": 1024, "end_step": 1128, "id": "cc935324-4b2f-4752-9ec5-8ae9b63a5a3e"}, {"label": "subtasks", "start_step": 1072, "end_step": 1147, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table, adjusting the grip to stabilize the block."}, {"label": "goal", "start_step": 1129, "end_step": 1293, "id": "8124f303-e9b5-4521-bb76-e230e8e46645"}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1274, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed in front of the wooden base."}, {"label": "goal", "start_step": 1294, "end_step": 1425, "id": "c86121e5-51c9-4e07-b0be-d6f24a036d7a"}, {"label": "subtasks", "start_step": 1335, "end_step": 1447, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white cylindrical block in front of the wooden base, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1426, "end_step": 1611, "id": "98b67699-bffa-4be6-83e2-6afed4bd4eae"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward away from the black table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1604, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical post on the green base and moves it downward for assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block which is already fitted on the purple vertical post."}, {"label": "goal", "start_step": 1612, "end_step": 1728, "id": "9736ba31-ee08-46cb-8e2f-65d588f2deb5"}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cubic block on the black table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the black table without any movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, fingers adjust to form stable grip."}, {"label": "goal", "start_step": 1729, "end_step": 1941, "id": "5ac06dfa-40b7-44a3-9935-7ad92cb6bf83"}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it to the upper position of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1830, "end_step": 1934, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block, fingers open to detach from the block."}, {"label": "goal", "start_step": 1942, "end_step": 2067, "id": "35cfbba8-52ba-42e9-8fc1-2a56724bf593"}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2091, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 2068, "end_step": 2226, "id": "b1ba17c1-8348-4cc6-83d9-eca36ae280cf"}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object completely off the black tabletop."}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white cylindrical object above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2189, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical object and moves slightly upward."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block on the top of the stacked block set on the wooden base."}, {"label": "goal", "start_step": 2227, "end_step": 2328, "id": "6be22aa2-4d5b-460d-af7e-9c00f96fd3a9"}, {"label": "subtasks", "start_step": 2250, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "goal", "start_step": 2329, "end_step": 2619, "id": "2c3b2881-76dd-4664-b540-05db735733b0"}, {"label": "subtasks", "start_step": 2348, "end_step": 2361, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2399, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block upwards to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2400, "end_step": 2497, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2498, "end_step": 2639, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cylindrical block onto the purple rod until it is stably supported by the rod."}, {"label": "goal", "start_step": 2620, "end_step": 2742, "id": "c49d2bd0-309c-4e92-9fc9-3a81044a15c0"}, {"label": "subtasks", "start_step": 2640, "end_step": 2677, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the right area of the table."}, {"label": "subtasks", "start_step": 2678, "end_step": 2767, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "goal", "start_step": 2743, "end_step": 2931, "id": "31f5f2eb-3531-425f-b50d-29ff64ef20eb"}, {"label": "subtasks", "start_step": 2768, "end_step": 2804, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the black table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 2805, "end_step": 2954, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "goal", "start_step": 2932, "end_step": 3042, "id": "0dca82e2-5ab3-4315-a786-d049d4da81b0"}, {"label": "subtasks", "start_step": 2955, "end_step": 2984, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green square block placed on the tabletop."}, {"label": "subtasks", "start_step": 2985, "end_step": 3059, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the tabletop."}, {"label": "goal", "start_step": 3043, "end_step": 3201, "id": "30e0a112-bf87-4c76-9cb2-6d9857bb18f1"}, {"label": "subtasks", "start_step": 3060, "end_step": 3104, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the white tube with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 3105, "end_step": 3194, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white tube with purple cap and fits the block onto the tube."}, {"label": "subtasks", "start_step": 3195, "end_step": 3209, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block which is now fitted on the tube."}, {"label": "home", "start_step": 3228, "end_step": 3258, "id": "F_U69jiBkrLyD9sTmJoEn"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green hollow block located in front of the wooden base on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the green hollow block, with slight adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 330, "end_step": 517, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the leftmost purple rod to fix it in position."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper wooden base towards the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 787, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 959, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, inserting it down along the peg until it is placed stably."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the purple peg and the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area above the wooden base towards the white hexagonal block on the black table, without touching the block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1147, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1274, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed in front of the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1447, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white cylindrical block in front of the wooden base, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward away from the black table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1604, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical post on the green base and moves it downward for assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block which is already fitted on the purple vertical post."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cubic block on the black table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the black table without any movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, fingers adjust to form stable grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it to the upper position of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1830, "end_step": 1934, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block, fingers open to detach from the block."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2091, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object completely off the black tabletop."}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white cylindrical object above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2189, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical object and moves slightly upward."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block on the top of the stacked block set on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 2348, "end_step": 2361, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2399, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block upwards to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2400, "end_step": 2497, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2498, "end_step": 2639, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cylindrical block onto the purple rod until it is stably supported by the rod."}, {"label": "subtasks", "start_step": 2640, "end_step": 2677, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the right area of the table."}, {"label": "subtasks", "start_step": 2678, "end_step": 2767, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2768, "end_step": 2804, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the black table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 2805, "end_step": 2954, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2955, "end_step": 2984, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green square block placed on the tabletop."}, {"label": "subtasks", "start_step": 2985, "end_step": 3059, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the tabletop."}, {"label": "subtasks", "start_step": 3060, "end_step": 3104, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the white tube with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 3105, "end_step": 3194, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white tube with purple cap and fits the block onto the tube."}, {"label": "subtasks", "start_step": 3195, "end_step": 3209, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block which is now fitted on the tube."}], "episode_index": 3}
+{"source_uid": "a3a86fbd99f0d347", "num_frames": 2592, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: idle: Right hand remains empty at the right side of the tabletop workspace without any visible movement or contact with objects."}, {"label": "goal", "start_step": 0, "end_step": 189, "id": "0ac4693d-19e2-40d5-b649-f03a1ac8c622"}, {"label": "valid", "start_step": 0, "end_step": 2560, "id": "acrG3Nn0fupVFlFu7urO9"}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves left and downward toward the small white rectangular object on the table in front of the wooden peg base, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand contacts the small white rectangular object, with fingers closing and making minor positional adjustments to establish a grasp while the object stays on the table surface."}, {"label": "goal", "start_step": 190, "end_step": 405, "id": "e6be2188-b33e-4cc3-9e5a-e81b522c48e3"}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, raising the block and the adjacent wooden base off the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the green hexagonal block upward and slightly horizontally to position the block directly above the leftmost purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post, lowering the block to fit it onto the post to establish an assembly fit."}, {"label": "subtasks", "start_step": 292, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple vertical post without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block, allowing the block to slide down the purple post to rest on the wooden base surface."}, {"label": "subtasks", "start_step": 405, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the front-left white hexagonal nut on the black table surface, approaching the target without contact."}, {"label": "goal", "start_step": 406, "end_step": 627, "id": "b8fef8a4-0478-45ae-863f-fc9c9c9a6985"}, {"label": "subtasks", "start_step": 465, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut, adjusting finger and wrist positions slightly to establish a stable grip."}, {"label": "subtasks", "start_step": 532, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the front-left white hexagonal nut on the black table surface steadily without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts its finger positions to establish a stable grip on the white hexagonal nut placed on the black work surface."}, {"label": "goal", "start_step": 628, "end_step": 768, "id": "da5b7761-8e91-4f0d-bf49-95186420e1dd"}, {"label": "subtasks", "start_step": 652, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the work surface and transports it upward to the position directly above the target purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 682, "end_step": 764, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg while making small positional adjustments to seat it correctly."}, {"label": "subtasks", "start_step": 765, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward empty from the area above the wooden assembly stand toward the left white hexagonal nut on the black work surface, approaching the target without making contact."}, {"label": "goal", "start_step": 769, "end_step": 887, "id": "ea9bb197-084f-45f9-9e7e-9ef13b41b097"}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the left white hexagonal nut on the work surface, adjusting finger positions and closing fingers to form a stable grasp on the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach_grasp: Right hand approaches the white hexagonal nut on the black table surface with open fingers and closes fingers to grasp the nut, which stays on the table during this period."}, {"label": "goal", "start_step": 888, "end_step": 1035, "id": "7a2622f1-9e15-4e55-b18c-51285b6f217d"}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it through the air to the position directly above the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the grasped white hexagonal nut with the purple rod on the wooden block, lowers the nut to fit onto the rod, and makes small adjustments to the wrist and fingers to seat the nut properly on the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed in front of the wooden assembly base."}, {"label": "goal", "start_step": 1036, "end_step": 1146, "id": "fce62547-2006-4b58-87f0-fe5383173630"}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface and lifts it upward off the table."}, {"label": "goal", "start_step": 1147, "end_step": 1278, "id": "16684dc6-2132-4b6d-b9c0-610b5cc211f5"}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block and moves it to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize the grasp on the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the area above the wooden peg base toward the green hexagonal block on the table, staying empty before making contact with the block."}, {"label": "goal", "start_step": 1279, "end_step": 1392, "id": "4b6b8e77-6789-47fe-908d-66148bd4ac1e"}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block on the table to establish a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the green hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1393, "end_step": 1530, "id": "c3393090-c8c9-4a36-a689-24517fbf4fb4"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moves it upward to position directly above the purple vertical rod on the light wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, lowers the block along the rod to fit onto the underlying white block on the wooden base, opens fingers to release the block and separate from its surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp_release: Right hand closes fingers to grasp the white hexagonal piece on the wooden assembly base, opens fingers to release the piece and separate from it."}, {"label": "goal", "start_step": 1531, "end_step": 1629, "id": "2bf01830-2b35-4500-bc96-1c1faedf815e"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the front white hexagonal block placed on the black table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block on the table, slightly adjusting wrist and finger positions while closing fingers to form a grasp on the block."}, {"label": "goal", "start_step": 1630, "end_step": 1764, "id": "052590ac-4dc3-4b8d-905e-88aa79704aca"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hollow cylinder upward until the cylinder is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hollow cylinder through the air toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple rod, moves the cylinder downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves empty from the upper area of the stacked cylindrical blocks downward and rightward toward the white hexagonal nut placed on the table adjacent to the wooden block tray."}, {"label": "goal", "start_step": 1765, "end_step": 1878, "id": "b112a2d6-a120-4477-b3f3-9a579d3424e4"}, {"label": "subtasks", "start_step": 1815, "end_step": 1897, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, closes fingers and makes slight adjustments to finger and wrist positions to establish a secure grasp on the nut."}, {"label": "goal", "start_step": 1879, "end_step": 2013, "id": "73a6037a-911e-4d13-82df-67441ac379ef"}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand moves vertically upward, lifting the grasped white hexagonal block completely clear of the dark table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden block assembly rack in the upper center of the workspace."}, {"label": "subtasks", "start_step": 1942, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal block with the vertical purple rod on the wooden rack, lowering the block slightly to fit it onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple rod, moving fingers slightly away from the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downwards toward the white hexagonal block placed on the table, with fingers kept slightly extended."}, {"label": "goal", "start_step": 2014, "end_step": 2103, "id": "842feed7-75bb-425b-9450-d9917696dea1"}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a grip."}, {"label": "goal", "start_step": 2104, "end_step": 2217, "id": "cc52a743-971d-4e28-a45a-9302c13b9a12"}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward and leftward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moving the block downward with small positional adjustments to fit onto the rod."}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the light purple-topped white cylinder seated on the wooden block base."}, {"label": "goal", "start_step": 2218, "end_step": 2328, "id": "055eaa57-6c57-43c0-acb4-d1ae88f87320"}, {"label": "subtasks", "start_step": 2228, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward and rightward through empty space to approach the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions and closes digits around the green cube on the dark table surface to establish a grip."}, {"label": "goal", "start_step": 2329, "end_step": 2529, "id": "a3e8bd48-4af0-4110-8b55-c4fc06706de3"}, {"label": "subtasks", "start_step": 2348, "end_step": 2361, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand holds the green hollow cylinder and lifts it vertically upward until the cylinder is completely lifted off the dark table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2391, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the grasped green hollow cylinder and moves it toward the upper left, stopping directly above the bottle with a purple cap on the wooden holder."}, {"label": "subtasks", "start_step": 2392, "end_step": 2527, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: place: Right hand lowers the green hollow cylinder while making slight positional adjustments, placing the cylinder onto the purple-capped bottle until the cylinder is stably supported by the bottle."}, {"label": "subtasks", "start_step": 2528, "end_step": 2534, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green hollow cylinder, ending contact with the cylinder."}, {"label": "home", "start_step": 2561, "end_step": 2591, "id": "8ecFTXEMV3fQYsAQ17vCO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: idle: Right hand remains empty at the right side of the tabletop workspace without any visible movement or contact with objects."}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves left and downward toward the small white rectangular object on the table in front of the wooden peg base, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand contacts the small white rectangular object, with fingers closing and making minor positional adjustments to establish a grasp while the object stays on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, raising the block and the adjacent wooden base off the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the green hexagonal block upward and slightly horizontally to position the block directly above the leftmost purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post, lowering the block to fit it onto the post to establish an assembly fit."}, {"label": "subtasks", "start_step": 292, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple vertical post without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block, allowing the block to slide down the purple post to rest on the wooden base surface."}, {"label": "subtasks", "start_step": 405, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the front-left white hexagonal nut on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 465, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut, adjusting finger and wrist positions slightly to establish a stable grip."}, {"label": "subtasks", "start_step": 532, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the front-left white hexagonal nut on the black table surface steadily without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts its finger positions to establish a stable grip on the white hexagonal nut placed on the black work surface."}, {"label": "subtasks", "start_step": 652, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the work surface and transports it upward to the position directly above the target purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 682, "end_step": 764, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg while making small positional adjustments to seat it correctly."}, {"label": "subtasks", "start_step": 765, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward empty from the area above the wooden assembly stand toward the left white hexagonal nut on the black work surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the left white hexagonal nut on the work surface, adjusting finger positions and closing fingers to form a stable grasp on the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach_grasp: Right hand approaches the white hexagonal nut on the black table surface with open fingers and closes fingers to grasp the nut, which stays on the table during this period."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it through the air to the position directly above the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the grasped white hexagonal nut with the purple rod on the wooden block, lowers the nut to fit onto the rod, and makes small adjustments to the wrist and fingers to seat the nut properly on the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface and lifts it upward off the table."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block and moves it to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize the grasp on the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the area above the wooden peg base toward the green hexagonal block on the table, staying empty before making contact with the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block on the table to establish a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moves it upward to position directly above the purple vertical rod on the light wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, lowers the block along the rod to fit onto the underlying white block on the wooden base, opens fingers to release the block and separate from its surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp_release: Right hand closes fingers to grasp the white hexagonal piece on the wooden assembly base, opens fingers to release the piece and separate from it."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the front white hexagonal block placed on the black table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block on the table, slightly adjusting wrist and finger positions while closing fingers to form a grasp on the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hollow cylinder upward until the cylinder is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hollow cylinder through the air toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple rod, moves the cylinder downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves empty from the upper area of the stacked cylindrical blocks downward and rightward toward the white hexagonal nut placed on the table adjacent to the wooden block tray."}, {"label": "subtasks", "start_step": 1815, "end_step": 1897, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, closes fingers and makes slight adjustments to finger and wrist positions to establish a secure grasp on the nut."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand moves vertically upward, lifting the grasped white hexagonal block completely clear of the dark table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden block assembly rack in the upper center of the workspace."}, {"label": "subtasks", "start_step": 1942, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal block with the vertical purple rod on the wooden rack, lowering the block slightly to fit it onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple rod, moving fingers slightly away from the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downwards toward the white hexagonal block placed on the table, with fingers kept slightly extended."}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a grip."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward and leftward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moving the block downward with small positional adjustments to fit onto the rod."}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the light purple-topped white cylinder seated on the wooden block base."}, {"label": "subtasks", "start_step": 2228, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward and rightward through empty space to approach the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions and closes digits around the green cube on the dark table surface to establish a grip."}, {"label": "subtasks", "start_step": 2348, "end_step": 2361, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand holds the green hollow cylinder and lifts it vertically upward until the cylinder is completely lifted off the dark table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2391, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the grasped green hollow cylinder and moves it toward the upper left, stopping directly above the bottle with a purple cap on the wooden holder."}, {"label": "subtasks", "start_step": 2392, "end_step": 2527, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: place: Right hand lowers the green hollow cylinder while making slight positional adjustments, placing the cylinder onto the purple-capped bottle until the cylinder is stably supported by the bottle."}, {"label": "subtasks", "start_step": 2528, "end_step": 2534, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green hollow cylinder, ending contact with the cylinder."}], "episode_index": 4}
+{"source_uid": "90463f076684a067", "num_frames": 2667, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table towards the green hexagonal perforated block on the left of the wooden peg base, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "c34aee12-2288-49a8-a78a-417b046a2938"}, {"label": "valid", "start_step": 0, "end_step": 2635, "id": "eVULYjnyYrC1APKFDiUWi"}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward to contact the green hexagonal perforated block, then closes its fingers and adjusts the grip to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal perforated block on the black table surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the left table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 196, "end_step": 339, "id": "a69f73c3-7339-423e-9955-c724656c0e82"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the leftmost purple peg by lowering it along the peg to the bottom."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the position of the top white block on the wooden pegboard."}, {"label": "goal", "start_step": 340, "end_step": 483, "id": "ab00a423-ee5e-4a0b-b7ee-98e6c8fe64fe"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the top white block on the pegboard, fingers open and move upward away from the block."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 484, "end_step": 729, "id": "b44d9cff-ab65-4e2b-8b36-7bc425a91b9d"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 540, "end_step": 681, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning the hole and sliding the block down the peg until it reaches the green base."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg by opening its fingers, separating from the block."}, {"label": "subtasks", "start_step": 712, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the leftmost purple peg, moving away from the operation position."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white perforated block onto the top of the front peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 730, "end_step": 846, "id": "edb41e14-49bb-48be-b425-899052505e62"}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 877, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the black table surface, with fingers continuously adjusting to form a stable grip."}, {"label": "goal", "start_step": 847, "end_step": 1122, "id": "fa83f526-cd56-40f5-9f32-c8004a3d33e1"}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 908, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object with the leftmost purple peg on the wooden rack, adjusting the object's position to fit onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow hexagonal block onto the leftmost purple peg of the wooden base until the block is supported."}, {"label": "goal", "start_step": 1123, "end_step": 1275, "id": "4546633a-a10a-41ce-8c69-2f636f726508"}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and toward the white hollow hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1276, "end_step": 1419, "id": "77543c59-617b-4cf2-98a3-53f45ca9127c"}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table surface and moves it to above the middle purple peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the middle purple peg downward until it reaches the peg base, then releases the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the rightmost purple peg of the base."}, {"label": "goal", "start_step": 1420, "end_step": 1521, "id": "777d5b42-ea07-4c8c-9d6b-fb91f40a59bd"}, {"label": "subtasks", "start_step": 1448, "end_step": 1461, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1537, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1522, "end_step": 1689, "id": "2f15fda0-e540-45cf-8a90-1a2430cad606"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward and rightward to the top of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1694, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target peg on the wooden base, moving the block downward along the peg until it fits into place."}, {"label": "goal", "start_step": 1690, "end_step": 1833, "id": "01b4f78f-cb21-465b-989f-6d7d0c519321"}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal block on the purple vertical rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hollow hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table beside the green block, with fingers adjusting to form a stable grip while the block stays on the table."}, {"label": "goal", "start_step": 1834, "end_step": 1965, "id": "937e4af4-04a7-424e-af20-796265f120cf"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it upward and rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and inserts it downward along the peg to assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the right column of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 1966, "end_step": 2067, "id": "22b1e8f7-c959-4dab-98b4-528835cbe36f"}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table to the right of the wooden base, with fingers closing around the block."}, {"label": "goal", "start_step": 2068, "end_step": 2199, "id": "5f2a5acd-6164-4aed-b314-5cf7ef61b443"}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block upward and leftward to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2189, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple vertical rod, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 2200, "end_step": 2277, "id": "dd6fb0b4-c126-494b-9de0-d3085e89926e"}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 2242, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block and adjusting contact position."}, {"label": "goal", "start_step": 2278, "end_step": 2388, "id": "4b56abae-9669-4a7d-b373-61fe0f462775"}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated cylinder off the table and transports it toward the peg rack at the back of the table."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white perforated cylinder onto the purple peg of the rack by lowering it into fitting position."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the small purple rod on the top of the front-right white bottle on the wooden base."}, {"label": "goal", "start_step": 2389, "end_step": 2496, "id": "17c52333-07c1-47c6-b1ad-eb95e357b6a6"}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers adjusting contact position."}, {"label": "goal", "start_step": 2497, "end_step": 2604, "id": "7af2d865-0bf9-4ba2-9899-3779bcfa81bf"}, {"label": "subtasks", "start_step": 2520, "end_step": 2557, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and moves it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2594, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg on the wooden rack and lowers it onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the green block fitted on the purple peg."}, {"label": "home", "start_step": 2636, "end_step": 2666, "id": "80X5wbkCL18GRSupcEJG2"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table towards the green hexagonal perforated block on the left of the wooden peg base, with fingers slightly open."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward to contact the green hexagonal perforated block, then closes its fingers and adjusts the grip to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal perforated block on the black table surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the left table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the leftmost purple peg by lowering it along the peg to the bottom."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the position of the top white block on the wooden pegboard."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the top white block on the pegboard, fingers open and move upward away from the block."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 540, "end_step": 681, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning the hole and sliding the block down the peg until it reaches the green base."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg by opening its fingers, separating from the block."}, {"label": "subtasks", "start_step": 712, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the leftmost purple peg, moving away from the operation position."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white perforated block onto the top of the front peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 877, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the black table surface, with fingers continuously adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 908, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object with the leftmost purple peg on the wooden rack, adjusting the object's position to fit onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow hexagonal block onto the leftmost purple peg of the wooden base until the block is supported."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and toward the white hollow hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table surface and moves it to above the middle purple peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the middle purple peg downward until it reaches the peg base, then releases the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the rightmost purple peg of the base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1461, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1537, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward and rightward to the top of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1694, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target peg on the wooden base, moving the block downward along the peg until it fits into place."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal block on the purple vertical rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hollow hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table beside the green block, with fingers adjusting to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it upward and rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and inserts it downward along the peg to assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the right column of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table to the right of the wooden base, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block upward and leftward to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2189, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple vertical rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 2242, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block and adjusting contact position."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated cylinder off the table and transports it toward the peg rack at the back of the table."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white perforated cylinder onto the purple peg of the rack by lowering it into fitting position."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the small purple rod on the top of the front-right white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers adjusting contact position."}, {"label": "subtasks", "start_step": 2520, "end_step": 2557, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and moves it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2594, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg on the wooden rack and lowers it onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the green block fitted on the purple peg."}], "episode_index": 5}
+{"source_uid": "63f70d4722cbad4c", "num_frames": 2991, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical object on the leftmost rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 182, "id": "63d2684f-424d-4cc0-8d47-b87b863749f0"}, {"label": "valid", "start_step": 0, "end_step": 2958, "id": "D_kttKup0fq6xUz0eCg3K"}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the leftmost rod of the wooden base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 183, "end_step": 390, "id": "987007c2-9b98-4308-8dd1-4728595154d5"}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to above the leftmost purple vertical rod."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the leftmost purple vertical rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening its fingers."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the rod assembly."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 391, "end_step": 541, "id": "2b4ff763-755a-46e9-acad-455707bdc3e1"}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 450, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 542, "end_step": 679, "id": "9f1a2f69-cdcc-413b-9be5-eb5bd7d43e79"}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers."}, {"label": "subtasks", "start_step": 675, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "goal", "start_step": 680, "end_step": 799, "id": "8053b41f-4085-4391-b646-7b9a1e0728a1"}, {"label": "subtasks", "start_step": 682, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to contact and establish grasp on the white hexagonal object on the black table surface."}, {"label": "goal", "start_step": 800, "end_step": 934, "id": "23b37e34-22c3-47c9-9419-240a76b4f3bd"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod, lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block after it is placed on the purple rod."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves downward to the top of the purple rod on the wooden base."}, {"label": "goal", "start_step": 935, "end_step": 1075, "id": "b38e81f0-eb0c-4c26-a491-bdac5f85e4cc"}, {"label": "subtasks", "start_step": 975, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod for assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table surface, fingers adjust to form stable grip."}, {"label": "goal", "start_step": 1076, "end_step": 1195, "id": "22b80862-363c-4206-b9a2-6363c7274054"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block up from the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block upward to the area of the purple vertical rods."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple vertical rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table without touching it."}, {"label": "goal", "start_step": 1196, "end_step": 1321, "id": "9409b620-ab4f-4256-ae9b-1c59aa712809"}, {"label": "subtasks", "start_step": 1245, "end_step": 1319, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 1322, "end_step": 1585, "id": "8c3a7211-900a-4a61-99b4-2472b43b8be5"}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downwards along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the green block and the wooden base."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table, not contacting the block yet."}, {"label": "goal", "start_step": 1586, "end_step": 1693, "id": "a7e70fc1-7887-4474-bc7a-3f3f84fb339a"}, {"label": "subtasks", "start_step": 1635, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusts fingers to form a stable grasp on the block."}, {"label": "goal", "start_step": 1694, "end_step": 1846, "id": "8968bb1a-ac0c-439b-902a-b9ff93171abc"}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block up from the black table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the held white cylindrical block towards the building block set."}, {"label": "subtasks", "start_step": 1740, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the green block's rod of the building block set by aligning and pressing it down."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block that has been assembled on the rod."}, {"label": "goal", "start_step": 1847, "end_step": 1945, "id": "1a7950ed-5103-4cdd-b115-d86103ddbbb2"}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward towards the white cylindrical block placed on the table to the right of the green wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1964, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing around the block to form a grip."}, {"label": "goal", "start_step": 1946, "end_step": 2176, "id": "cae2b187-59ea-4a57-bac7-9ca0c8e30fad"}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position right above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2167, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod by inserting the rod into the central hole of the block and lowering the block down along the rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block which is fully placed on the purple vertical rod."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block placed on the table."}, {"label": "goal", "start_step": 2177, "end_step": 2257, "id": "b6605394-61aa-4f8b-a2b0-0cdb35daa4b5"}, {"label": "subtasks", "start_step": 2212, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers close to form a grasp."}, {"label": "goal", "start_step": 2258, "end_step": 2401, "id": "b4ac0e40-5f82-42a2-b68b-33017ed719ba"}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and moves it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2399, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the rightmost column of the wooden base."}, {"label": "goal", "start_step": 2402, "end_step": 2482, "id": "e1832f47-1252-4907-ae98-2b35a5133e4c"}, {"label": "subtasks", "start_step": 2422, "end_step": 2451, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2452, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table surface."}, {"label": "goal", "start_step": 2483, "end_step": 2947, "id": "21d19bd9-7266-4061-a2c6-42500d3166b1"}, {"label": "subtasks", "start_step": 2505, "end_step": 2541, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the white post on the wooden rack."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white post on the wooden rack and places it onto the post."}, {"label": "subtasks", "start_step": 2572, "end_step": 2931, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down the white post repeatedly to fit it tightly."}, {"label": "subtasks", "start_step": 2932, "end_step": 2954, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats from the wooden rack."}, {"label": "home", "start_step": 2959, "end_step": 2990, "id": "fjYhhUVFUs1Dly-EPfCRQ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical object on the leftmost rod of the wooden base."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the leftmost rod of the wooden base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to above the leftmost purple vertical rod."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the leftmost purple vertical rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening its fingers."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the rod assembly."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 450, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers."}, {"label": "subtasks", "start_step": 675, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to contact and establish grasp on the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod, lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block after it is placed on the purple rod."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves downward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod for assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table surface, fingers adjust to form stable grip."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block up from the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block upward to the area of the purple vertical rods."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple vertical rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table without touching it."}, {"label": "subtasks", "start_step": 1245, "end_step": 1319, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downwards along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the green block and the wooden base."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table, not contacting the block yet."}, {"label": "subtasks", "start_step": 1635, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusts fingers to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block up from the black table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the held white cylindrical block towards the building block set."}, {"label": "subtasks", "start_step": 1740, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the green block's rod of the building block set by aligning and pressing it down."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block that has been assembled on the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward towards the white cylindrical block placed on the table to the right of the green wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1964, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position right above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2167, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod by inserting the rod into the central hole of the block and lowering the block down along the rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block which is fully placed on the purple vertical rod."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 2212, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers close to form a grasp."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and moves it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2399, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 2422, "end_step": 2451, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2452, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2505, "end_step": 2541, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the white post on the wooden rack."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white post on the wooden rack and places it onto the post."}, {"label": "subtasks", "start_step": 2572, "end_step": 2931, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down the white post repeatedly to fit it tightly."}, {"label": "subtasks", "start_step": 2932, "end_step": 2954, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats from the wooden rack."}], "episode_index": 6}
+{"source_uid": "e5c2d4220561b94b", "num_frames": 3403, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: idle: Right hand remains empty at the upper right position above the table without any independent movement."}, {"label": "goal", "start_step": 0, "end_step": 246, "id": "ef75ba73-3125-4455-8d52-1a22c231dd03"}, {"label": "valid", "start_step": 0, "end_step": 3369, "id": "KgvhAWCPC9Qv4xozygsN3"}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block at the left front of the wooden base with fingers slightly open."}, {"label": "subtasks", "start_step": 98, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, fingers close and adjust contact positions repeatedly to attempt a stable grip."}, {"label": "goal", "start_step": 247, "end_step": 426, "id": "790580aa-7364-4a65-98a2-a103fc0f1fc6"}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the grasped green block off the work surface and moves it upward to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 292, "end_step": 419, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, makes slight positional adjustments to the block, and lowers the block to fit it onto the peg until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport_release: Right hand holds the white part from the assembly rack, moves downward to the table surface and releases the part onto the table."}, {"label": "goal", "start_step": 427, "end_step": 555, "id": "06822e5c-e4df-4963-8c7b-872e4174bd37"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves empty downward toward the front white hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making small adjustments to fingers and wrist to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the dark table surface, with the nut fully separated from the table by the end of this segment."}, {"label": "goal", "start_step": 556, "end_step": 738, "id": "76427632-79fb-4bee-b9e1-fa9a3f879728"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the leftmost purple peg on the wooden assembly base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: place: Right hand lowers the white hexagonal nut to rest on the top of the leftmost purple peg assembly."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on top of the leftmost purple peg assembly with no observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: press: Right hand presses the white hexagonal nut downward along the leftmost purple peg until the nut rests firmly on the green base block at the bottom of the peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, moving slightly upward to separate from the nut by the end of the segment."}, {"label": "goal", "start_step": 739, "end_step": 894, "id": "f61d86f1-ba5f-44c4-b536-127dbbaa147e"}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves down from the area above the wooden assembly base towards the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 795, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block, making small adjustments to finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the black table surface without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize its grip on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 895, "end_step": 1050, "id": "4911a19d-ce5d-4270-b330-8ef82a8f6319"}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and moves the nut downward to fit it onto the rod until it rests on the lower white hexagonal block."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the mated white hexagonal nut on the purple rod without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut on the purple rod, fully separating the hand from the nut."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the left purple peg on the wooden assembly base, opening fingers to release grip on the block."}, {"label": "goal", "start_step": 1051, "end_step": 1203, "id": "dde44604-c9c2-4374-aae4-5f2a779e79b9"}, {"label": "subtasks", "start_step": 1088, "end_step": 1131, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward while empty, approaching the small white block resting on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand adjusts finger positions to close around the small white block on the table, making minor contact adjustments to establish a stable hold."}, {"label": "goal", "start_step": 1204, "end_step": 1350, "id": "3b53be18-cc99-4454-b4c9-22a693b16689"}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, then lowers the block to mate it onto the peg, fitting it snugly against the stacked block below."}, {"label": "subtasks", "start_step": 1342, "end_step": 1349, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release_retreat: Right hand opens fingers to release the mated white hexagonal block, then retreats upward and away from the assembled stack on the base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the leftmost green hexagonal block on the dark table surface, with fingers held in a pre-grasp open posture."}, {"label": "goal", "start_step": 1351, "end_step": 1506, "id": "08c9da90-3346-4c48-86f0-0b05e969e599"}, {"label": "subtasks", "start_step": 1395, "end_step": 1491, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand makes contact with the leftmost green hexagonal block on the dark table surface, adjusting finger positions and closing fingers around the block to form a stable grasp, while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the leftmost green hexagonal block on the dark table surface without moving, maintaining a stable closed-finger grasp with no observable adjustment to hand or block position."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green block resting on the black table surface."}, {"label": "goal", "start_step": 1507, "end_step": 1752, "id": "bf7f75c1-1422-4e70-93e6-c5539b4b62f5"}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport: Right hand carries the green block upward and toward the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the green block with the purple post and lowers it to fit securely onto the post."}, {"label": "subtasks", "start_step": 1590, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the green block fitted on the purple post without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1814, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the front-middle dark table surface, with fingers slightly open during the approach."}, {"label": "goal", "start_step": 1753, "end_step": 1902, "id": "7a070ec0-9f8b-4133-a194-704bad8f44e5"}, {"label": "subtasks", "start_step": 1815, "end_step": 1919, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block, closing fingers and adjusting contact points to establish a grasp on the block."}, {"label": "goal", "start_step": 1903, "end_step": 2073, "id": "98e37629-b0f4-486f-8021-f43acf00e05a"}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block until the block is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden peg stand, positioning the block directly above the target purple peg."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg, then moves the block downward to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: place_release: Right hand lowers the white cylindrical block into the empty slot on the wooden rack and opens fingers to release the block onto the rack."}, {"label": "goal", "start_step": 2074, "end_step": 2235, "id": "bfea52c5-c0a5-416c-9812-09326536b37c"}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal block on the table, making minor adjustments to establish a stable grip."}, {"label": "goal", "start_step": 2236, "end_step": 2394, "id": "d4537e95-3eaa-4ed7-8fa4-7d6f1415f5be"}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the grasped small white cylindrical block off the tabletop and carries it upward then left toward the wooden block base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2347, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the small white cylindrical block with the empty slot on the wooden block base and inserts it into the slot."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the inserted small white cylindrical block on the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 2385, "end_step": 2444, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward and rightward from the position near the purple rod toward the white hexagonal block on the table, staying empty as it approaches the target object."}, {"label": "goal", "start_step": 2395, "end_step": 2490, "id": "25c71091-2470-4094-b50f-022aa21d8a0d"}, {"label": "subtasks", "start_step": 2445, "end_step": 2511, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, making small grip adjustments to establish contact with the object."}, {"label": "goal", "start_step": 2491, "end_step": 2646, "id": "4b2ef5d0-124e-4783-9a6b-b14f0a97e4dc"}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the white block clear of the black table surface and transports it upward to the position above the empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2542, "end_step": 2639, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate_place: Right hand aligns the white block with the empty slot on the wooden stand and lowers it into the slot until the block is fully supported by the stand."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release: Right hand opens its fingers to release the white block seated in the wooden stand slot."}, {"label": "goal", "start_step": 2647, "end_step": 2739, "id": "a0b4067d-ffcf-4769-a008-ca26bb093d35"}, {"label": "subtasks", "start_step": 2655, "end_step": 2699, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves empty in a down-right direction toward the green hollow cubic block placed on the dark gray table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes fingers around the green hollow cubic block, making minor finger adjustments to establish contact with the block while it remains on the table surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift: Right hand holds the green block on the table surface and lifts it upward until the block is completely off the table."}, {"label": "goal", "start_step": 2740, "end_step": 3375, "id": "b6c22ff1-74d2-4aaf-9ace-618cecafc3c5"}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport: Right hand carries the lifted green block, moving it toward the target position above the white cylinder on the wooden block rack."}, {"label": "subtasks", "start_step": 2790, "end_step": 3329, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand adjusts the position and orientation of the green block, aligns its inner hole with the target white cylinder, and lowers the block to fit onto the cylinder until the block is stably supported by the cylinder."}, {"label": "subtasks", "start_step": 3330, "end_step": 3351, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release: Right hand opens its fingers to release the green block mounted on the cylinder, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 3352, "end_step": 3389, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: retreat: Right hand moves empty away from the assembled green block toward the right side of the workspace."}, {"label": "home", "start_step": 3370, "end_step": 3402, "id": "dTmxVZxtLmgOOPYi1Arh9"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: idle: Right hand remains empty at the upper right position above the table without any independent movement."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block at the left front of the wooden base with fingers slightly open."}, {"label": "subtasks", "start_step": 98, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, fingers close and adjust contact positions repeatedly to attempt a stable grip."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the grasped green block off the work surface and moves it upward to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 292, "end_step": 419, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, makes slight positional adjustments to the block, and lowers the block to fit it onto the peg until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport_release: Right hand holds the white part from the assembly rack, moves downward to the table surface and releases the part onto the table."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves empty downward toward the front white hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making small adjustments to fingers and wrist to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the dark table surface, with the nut fully separated from the table by the end of this segment."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the leftmost purple peg on the wooden assembly base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: place: Right hand lowers the white hexagonal nut to rest on the top of the leftmost purple peg assembly."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on top of the leftmost purple peg assembly with no observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: press: Right hand presses the white hexagonal nut downward along the leftmost purple peg until the nut rests firmly on the green base block at the bottom of the peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, moving slightly upward to separate from the nut by the end of the segment."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves down from the area above the wooden assembly base towards the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 795, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block, making small adjustments to finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the black table surface without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize its grip on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and moves the nut downward to fit it onto the rod until it rests on the lower white hexagonal block."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the mated white hexagonal nut on the purple rod without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut on the purple rod, fully separating the hand from the nut."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the left purple peg on the wooden assembly base, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1131, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward while empty, approaching the small white block resting on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand adjusts finger positions to close around the small white block on the table, making minor contact adjustments to establish a stable hold."}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, then lowers the block to mate it onto the peg, fitting it snugly against the stacked block below."}, {"label": "subtasks", "start_step": 1342, "end_step": 1349, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release_retreat: Right hand opens fingers to release the mated white hexagonal block, then retreats upward and away from the assembled stack on the base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the leftmost green hexagonal block on the dark table surface, with fingers held in a pre-grasp open posture."}, {"label": "subtasks", "start_step": 1395, "end_step": 1491, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand makes contact with the leftmost green hexagonal block on the dark table surface, adjusting finger positions and closing fingers around the block to form a stable grasp, while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the leftmost green hexagonal block on the dark table surface without moving, maintaining a stable closed-finger grasp with no observable adjustment to hand or block position."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green block resting on the black table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport: Right hand carries the green block upward and toward the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the green block with the purple post and lowers it to fit securely onto the post."}, {"label": "subtasks", "start_step": 1590, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the green block fitted on the purple post without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1814, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the front-middle dark table surface, with fingers slightly open during the approach."}, {"label": "subtasks", "start_step": 1815, "end_step": 1919, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block, closing fingers and adjusting contact points to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block until the block is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden peg stand, positioning the block directly above the target purple peg."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg, then moves the block downward to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: place_release: Right hand lowers the white cylindrical block into the empty slot on the wooden rack and opens fingers to release the block onto the rack."}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal block on the table, making minor adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the grasped small white cylindrical block off the tabletop and carries it upward then left toward the wooden block base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2347, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the small white cylindrical block with the empty slot on the wooden block base and inserts it into the slot."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the inserted small white cylindrical block on the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 2385, "end_step": 2444, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward and rightward from the position near the purple rod toward the white hexagonal block on the table, staying empty as it approaches the target object."}, {"label": "subtasks", "start_step": 2445, "end_step": 2511, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, making small grip adjustments to establish contact with the object."}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the white block clear of the black table surface and transports it upward to the position above the empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2542, "end_step": 2639, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate_place: Right hand aligns the white block with the empty slot on the wooden stand and lowers it into the slot until the block is fully supported by the stand."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release: Right hand opens its fingers to release the white block seated in the wooden stand slot."}, {"label": "subtasks", "start_step": 2655, "end_step": 2699, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves empty in a down-right direction toward the green hollow cubic block placed on the dark gray table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes fingers around the green hollow cubic block, making minor finger adjustments to establish contact with the block while it remains on the table surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift: Right hand holds the green block on the table surface and lifts it upward until the block is completely off the table."}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport: Right hand carries the lifted green block, moving it toward the target position above the white cylinder on the wooden block rack."}, {"label": "subtasks", "start_step": 2790, "end_step": 3329, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand adjusts the position and orientation of the green block, aligns its inner hole with the target white cylinder, and lowers the block to fit onto the cylinder until the block is stably supported by the cylinder."}, {"label": "subtasks", "start_step": 3330, "end_step": 3351, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release: Right hand opens its fingers to release the green block mounted on the cylinder, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 3352, "end_step": 3389, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: retreat: Right hand moves empty away from the assembled green block toward the right side of the workspace."}], "episode_index": 7}
+{"source_uid": "ae80b9aa0acd8522", "num_frames": 3261, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from the lower left position to the home position at the upper left side of the frame. | Right hand: reach: Right hand moves from the right side of the frame toward the green hexagonal block on the table to the left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 207, "id": "c58c59e0-7614-4c69-a972-666b520b10cc"}, {"label": "valid", "start_step": 0, "end_step": 3229, "id": "KWQ_1VvklHNE89rduxV85"}, {"label": "subtasks", "start_step": 30, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves from the right side of the frame toward the green hexagonal block on the table to the left of the wooden base."}, {"label": "subtasks", "start_step": 112, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 208, "end_step": 360, "id": "623328dc-b7ef-4737-8f44-77c6f0527613"}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward to the position right above the vertical peg on the wooden board."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the green cubic block with the vertical peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the vertical peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward from the top of the peg set toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 361, "end_step": 465, "id": "1a14b626-c6c0-4c5c-98d8-a395b9de9d6a"}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers adjusting the grip while the object stays on the table."}, {"label": "goal", "start_step": 466, "end_step": 756, "id": "5fa9fa45-0bcb-47b9-a275-7a15c16fa28e"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the wooden peg board with purple pegs."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg of the wooden peg board."}, {"label": "subtasks", "start_step": 532, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg and releases its grip."}, {"label": "goal", "start_step": 757, "end_step": 945, "id": "84d28beb-09d0-4249-ad96-8c45a4024e23"}, {"label": "subtasks", "start_step": 772, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the left of the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hexagonal block on the table, with slight finger adjustments for stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 946, "end_step": 1101, "id": "0d2be2b9-684e-4fbd-9fc4-394679337e8a"}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack by inserting the rod into the block's central hole."}, {"label": "subtasks", "start_step": 1095, "end_step": 1177, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the small white cube on the table in front of the wooden peg rack, not yet touching the cube."}, {"label": "goal", "start_step": 1102, "end_step": 1302, "id": "19adf287-76b9-49ce-b50e-7593e1cddb16"}, {"label": "subtasks", "start_step": 1178, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand touches the small white cube on the table and adjusts its fingers to form a stable grasp."}, {"label": "goal", "start_step": 1303, "end_step": 1557, "id": "5812e9d7-ad07-4123-b8bf-7c52a7ba85d7"}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the white hollow block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the white hollow block to the position directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hollow block with the purple vertical peg by aligning its hole with the peg and lowering it onto the peg to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press: Right hand presses the white hollow block downward along the purple vertical peg to push it further into place."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hollow block on the purple vertical peg without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple vertical post on the wooden base, then releases the block."}, {"label": "goal", "start_step": 1558, "end_step": 1713, "id": "3e19d9e6-508a-4941-a5f9-1201cfca25b4"}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1709, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the green cubic block on the table without any observable movement."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1714, "end_step": 1863, "id": "e8ae172f-5701-4ef1-b5a8-c757835ae571"}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it upward and leftward toward the wooden peg board with white and purple pegs."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the white peg on the wooden peg board and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1778, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the white peg to push it further onto the peg."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: place_release: Right hand places the white cylindrical piece onto the purple peg on the wooden base and releases its grip on the piece."}, {"label": "goal", "start_step": 1864, "end_step": 1974, "id": "3974f88c-ad15-438e-be24-c99719f2770e"}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal piece on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal piece in mid-air above the table surface without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with a hole on the black table, adjusting fingers to stabilize the grip."}, {"label": "goal", "start_step": 1975, "end_step": 2124, "id": "f74b35c1-3cfc-41e1-8400-f4217c8aafdb"}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: place_release: Right hand places the white hexagonal block on top of the purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 2125, "end_step": 2226, "id": "b8409b04-457c-4af5-8237-76f28d36a269"}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves toward the upper white hexagonal block on the right side of the table."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the right side of the table with fingers closing around it."}, {"label": "goal", "start_step": 2227, "end_step": 2367, "id": "a0e45e96-0afc-40e6-8d73-f895175f5044"}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod, inserting the rod through the hole of the block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 2368, "end_step": 2481, "id": "6adeedc3-2936-4cc9-a925-bb0b68149a50"}, {"label": "subtasks", "start_step": 2378, "end_step": 2414, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, with empty hand approaching the target."}, {"label": "subtasks", "start_step": 2415, "end_step": 2519, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2482, "end_step": 2652, "id": "eb6ae506-2e12-41e5-813f-9fd6307ea747"}, {"label": "subtasks", "start_step": 2520, "end_step": 2571, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it upward and leftward to the top of the wooden tray."}, {"label": "subtasks", "start_step": 2572, "end_step": 2639, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden tray, aligning and lowering it to fit."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: place_release: Right hand places the white cylindrical piece onto the rightmost column of the wooden base and releases the piece."}, {"label": "goal", "start_step": 2653, "end_step": 2757, "id": "7d9fa553-5d11-4a19-bce8-9f0110dd0229"}, {"label": "subtasks", "start_step": 2662, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2767, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2758, "end_step": 3210, "id": "0cb130a4-e208-4cb1-8a5c-4cb2a71870b6"}, {"label": "subtasks", "start_step": 2768, "end_step": 2781, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the green block upward from the black table until the block is completely off the table surface."}, {"label": "subtasks", "start_step": 2782, "end_step": 2834, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the green block toward the bottle tray in the upper middle of the frame."}, {"label": "subtasks", "start_step": 2835, "end_step": 3187, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the green block with the white bottle on the tray, repeatedly adjusting position to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 3188, "end_step": 3209, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: retreat: Right hand retreats to the right away from the bottle tray."}, {"label": "home", "start_step": 3230, "end_step": 3260, "id": "l4oFJDBV0QqsYu6W94sbA"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from the lower left position to the home position at the upper left side of the frame. | Right hand: reach: Right hand moves from the right side of the frame toward the green hexagonal block on the table to the left of the wooden base."}, {"label": "subtasks", "start_step": 30, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves from the right side of the frame toward the green hexagonal block on the table to the left of the wooden base."}, {"label": "subtasks", "start_step": 112, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward to the position right above the vertical peg on the wooden board."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the green cubic block with the vertical peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the vertical peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward from the top of the peg set toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers adjusting the grip while the object stays on the table."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the wooden peg board with purple pegs."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg of the wooden peg board."}, {"label": "subtasks", "start_step": 532, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg and releases its grip."}, {"label": "subtasks", "start_step": 772, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the left of the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hexagonal block on the table, with slight finger adjustments for stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack by inserting the rod into the block's central hole."}, {"label": "subtasks", "start_step": 1095, "end_step": 1177, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the small white cube on the table in front of the wooden peg rack, not yet touching the cube."}, {"label": "subtasks", "start_step": 1178, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand touches the small white cube on the table and adjusts its fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the white hollow block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the white hollow block to the position directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hollow block with the purple vertical peg by aligning its hole with the peg and lowering it onto the peg to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press: Right hand presses the white hollow block downward along the purple vertical peg to push it further into place."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hollow block on the purple vertical peg without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple vertical post on the wooden base, then releases the block."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1709, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the green cubic block on the table without any observable movement."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it upward and leftward toward the wooden peg board with white and purple pegs."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the white peg on the wooden peg board and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1778, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the white peg to push it further onto the peg."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: place_release: Right hand places the white cylindrical piece onto the purple peg on the wooden base and releases its grip on the piece."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal piece on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal piece in mid-air above the table surface without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with a hole on the black table, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: place_release: Right hand places the white hexagonal block on top of the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves toward the upper white hexagonal block on the right side of the table."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the right side of the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod, inserting the rod through the hole of the block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2378, "end_step": 2414, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, with empty hand approaching the target."}, {"label": "subtasks", "start_step": 2415, "end_step": 2519, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2520, "end_step": 2571, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it upward and leftward to the top of the wooden tray."}, {"label": "subtasks", "start_step": 2572, "end_step": 2639, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden tray, aligning and lowering it to fit."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: place_release: Right hand places the white cylindrical piece onto the rightmost column of the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 2662, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2767, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2768, "end_step": 2781, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the green block upward from the black table until the block is completely off the table surface."}, {"label": "subtasks", "start_step": 2782, "end_step": 2834, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the green block toward the bottle tray in the upper middle of the frame."}, {"label": "subtasks", "start_step": 2835, "end_step": 3187, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the green block with the white bottle on the tray, repeatedly adjusting position to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 3188, "end_step": 3209, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: retreat: Right hand retreats to the right away from the bottle tray."}], "episode_index": 8}
+{"source_uid": "0b7730eb2bd5ddf8", "num_frames": 4078, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylinder on the left side of the wooden base without contacting the object."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "1ba5dec8-862b-4462-a377-81c40b19f889"}, {"label": "valid", "start_step": 0, "end_step": 4045, "id": "17P_i5OQ6O0jcTmlSCIwU"}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylinder on the wooden base, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylinder upwards to make it leave the supporting surface of the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand carries the white cylinder downwards towards the black table surface near the leftmost green block."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylinder onto the black table surface until the object is stably supported by the table."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black work surface until it is completely off the surface."}, {"label": "goal", "start_step": 196, "end_step": 366, "id": "c78da1b5-53fe-4244-bb3b-7f694969a076"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and places it onto the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden base area towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 367, "end_step": 591, "id": "58f12950-38ad-4feb-b7b6-18bf77ce91dd"}, {"label": "subtasks", "start_step": 428, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table and adjusts the grip to stabilize the object."}, {"label": "goal", "start_step": 592, "end_step": 711, "id": "8d66a452-5d0e-4aa5-b759-79d6ccb57f4b"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple post of the wooden base, adjusting position to align and fit."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards from the upper wooden block set towards the white hollow block on the lower left of the table."}, {"label": "goal", "start_step": 712, "end_step": 801, "id": "6945946c-c317-4f5a-84e3-9ae8c36527c0"}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the lower left of the table."}, {"label": "goal", "start_step": 802, "end_step": 945, "id": "e5bd6d1f-95d0-4849-bafd-cac47efdfa83"}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base, adjusting the position to fit correctly."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder block placed on the purple rod of the wooden base."}, {"label": "goal", "start_step": 946, "end_step": 1065, "id": "a031a5d6-e046-4567-981c-0c6738cee5ac"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white cylinder block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylinder block on the black table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1066, "end_step": 1203, "id": "f8d60c1e-f052-4894-a8c6-f2deca0d70bc"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple post to fix it in place."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden block set towards the green hexagonal block on the table."}, {"label": "goal", "start_step": 1204, "end_step": 1338, "id": "47bffb90-ca8a-490a-b56f-56fc8809db40"}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it towards the target peg on the wooden rack."}, {"label": "goal", "start_step": 1339, "end_step": 1461, "id": "8debd1b5-6afe-47c7-9e5c-3d8d9db75b2d"}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press_release: Right hand presses the green block down to fully seat on the peg, then releases the green block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves upward away from the wooden rack."}, {"label": "goal", "start_step": 1462, "end_step": 1590, "id": "f1b61269-85a2-429f-aa7c-c7d951363e73"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden block assembly area toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1604, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1591, "end_step": 1750, "id": "b97fcd45-0b13-4873-90ad-8110854d88f0"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the wooden pegboard."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the target peg of the wooden board."}, {"label": "subtasks", "start_step": 1642, "end_step": 1739, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the wooden board peg without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the stacked blocks on the wooden base."}, {"label": "goal", "start_step": 1751, "end_step": 1860, "id": "bf212a95-9ec6-4692-bbc2-1f3010a96122"}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1861, "end_step": 1983, "id": "603b089a-effa-41c6-90d8-e1aa6583b61d"}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod, lowering it until it is supported by the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1984, "end_step": 2079, "id": "f2e2d039-4619-4e16-bd5f-309e2aec1c8f"}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2025, "end_step": 2107, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand approaches the white hexagonal block, fingers close and adjust to form a stable grip on the block."}, {"label": "goal", "start_step": 2080, "end_step": 2205, "id": "aa192b90-435d-42a9-a31b-696e496e61da"}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table surface and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2138, "end_step": 2204, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white cylindrical object onto the purple rod on the wooden rack and releases its grasp."}, {"label": "subtasks", "start_step": 2205, "end_step": 2249, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the black table, without contacting the block."}, {"label": "goal", "start_step": 2206, "end_step": 2307, "id": "6cdaaa02-387f-4849-98bd-ccbb9334214c"}, {"label": "subtasks", "start_step": 2250, "end_step": 2331, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the green cubic block, adjusts fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 2308, "end_step": 4014, "id": "4859f0e8-ddd7-4d15-a5d2-c362721063ca"}, {"label": "subtasks", "start_step": 2332, "end_step": 2347, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 2348, "end_step": 2407, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block towards the white column on the wooden shelf."}, {"label": "subtasks", "start_step": 2408, "end_step": 2519, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the white column to attempt assembly."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block, which falls onto the table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2669, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves empty away from the shelf towards the lower right area of the table."}, {"label": "subtasks", "start_step": 2670, "end_step": 2767, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the green block at the lower right of the table."}, {"label": "subtasks", "start_step": 2768, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green block at the lower right of the table."}, {"label": "subtasks", "start_step": 2790, "end_step": 2834, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white column on the wooden shelf."}, {"label": "subtasks", "start_step": 2835, "end_step": 3307, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the white column to attempt assembly."}, {"label": "subtasks", "start_step": 3308, "end_step": 3329, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block, which falls onto the table surface."}, {"label": "subtasks", "start_step": 3330, "end_step": 3681, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the green block on the table surface."}, {"label": "subtasks", "start_step": 3682, "end_step": 3711, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green block on the table surface."}, {"label": "subtasks", "start_step": 3712, "end_step": 3914, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white column on the wooden shelf."}, {"label": "subtasks", "start_step": 3915, "end_step": 4019, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the green block onto the white column and releases it."}, {"label": "home", "start_step": 4046, "end_step": 4077, "id": "2HRvWT0WHu1QxYesXjH3h"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylinder on the left side of the wooden base without contacting the object."}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylinder on the wooden base, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylinder upwards to make it leave the supporting surface of the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand carries the white cylinder downwards towards the black table surface near the leftmost green block."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylinder onto the black table surface until the object is stably supported by the table."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black work surface until it is completely off the surface."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and places it onto the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden base area towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table and adjusts the grip to stabilize the object."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple post of the wooden base, adjusting position to align and fit."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards from the upper wooden block set towards the white hollow block on the lower left of the table."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the lower left of the table."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base, adjusting the position to fit correctly."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder block placed on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white cylinder block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylinder block on the black table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple post to fix it in place."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden block set towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it towards the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press_release: Right hand presses the green block down to fully seat on the peg, then releases the green block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves upward away from the wooden rack."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden block assembly area toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1604, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the wooden pegboard."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the target peg of the wooden board."}, {"label": "subtasks", "start_step": 1642, "end_step": 1739, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the wooden board peg without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod, lowering it until it is supported by the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2025, "end_step": 2107, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand approaches the white hexagonal block, fingers close and adjust to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table surface and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2138, "end_step": 2204, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white cylindrical object onto the purple rod on the wooden rack and releases its grasp."}, {"label": "subtasks", "start_step": 2205, "end_step": 2249, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the black table, without contacting the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2331, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the green cubic block, adjusts fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2347, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 2348, "end_step": 2407, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block towards the white column on the wooden shelf."}, {"label": "subtasks", "start_step": 2408, "end_step": 2519, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the white column to attempt assembly."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block, which falls onto the table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2669, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves empty away from the shelf towards the lower right area of the table."}, {"label": "subtasks", "start_step": 2670, "end_step": 2767, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the green block at the lower right of the table."}, {"label": "subtasks", "start_step": 2768, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green block at the lower right of the table."}, {"label": "subtasks", "start_step": 2790, "end_step": 2834, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white column on the wooden shelf."}, {"label": "subtasks", "start_step": 2835, "end_step": 3307, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the white column to attempt assembly."}, {"label": "subtasks", "start_step": 3308, "end_step": 3329, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block, which falls onto the table surface."}, {"label": "subtasks", "start_step": 3330, "end_step": 3681, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the green block on the table surface."}, {"label": "subtasks", "start_step": 3682, "end_step": 3711, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green block on the table surface."}, {"label": "subtasks", "start_step": 3712, "end_step": 3914, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white column on the wooden shelf."}, {"label": "subtasks", "start_step": 3915, "end_step": 4019, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the green block onto the white column and releases it."}], "episode_index": 9}
+{"source_uid": "5e021f1b72a47adf", "num_frames": 2908, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves from the right side of the workspace toward the green hexagonal block adjacent to the wooden peg base, holding fingers in an extended open position while approaching the target."}, {"label": "goal", "start_step": 0, "end_step": 162, "id": "70d6ec8e-e683-439f-9ece-38f30d25ee83"}, {"label": "valid", "start_step": 0, "end_step": 2876, "id": "qqz2RGRB9EMlBNUeM-iQs"}, {"label": "subtasks", "start_step": 105, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block near the wooden peg base, making small finger and wrist adjustments to establish grip while the block remains resting on the table surface."}, {"label": "goal", "start_step": 163, "end_step": 318, "id": "2a39ab46-9354-4d0a-82ce-51a77aed1923"}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg to fit the block onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until it rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal block on the left purple peg to establish a stable grip."}, {"label": "goal", "start_step": 319, "end_step": 471, "id": "d3c612c7-dce2-429b-9ccb-8b2235ee2a7b"}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until it is completely separated from the purple peg on the pegboard."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand moves the grasped white hexagonal block downward to a position directly above the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place: Right hand lowers the grasped white hexagonal block onto the black table surface, making slight adjustments until the block is stably supported by the table."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: hold: Right hand holds the white hexagonal block steadily on the black table surface with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the white hexagonal block resting on the table, with the block remaining on the supporting surface."}, {"label": "goal", "start_step": 472, "end_step": 642, "id": "9ef98c7d-1019-4206-9659-12aef919ad89"}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air to position it directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 525, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moves the block downward to fit it onto the rod to form the assembly connection."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, fingers opening as the block tilts onto the base surface."}, {"label": "goal", "start_step": 643, "end_step": 762, "id": "07c15093-719b-4792-bbc2-529607dccf38"}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves downward with empty palm, approaching the white hexagonal block placed on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, fingers adjusting and closing to establish a grip on the block."}, {"label": "goal", "start_step": 763, "end_step": 906, "id": "d1dfbf20-1397-474b-aefb-33989c99c265"}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to the position directly above the leftmost purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod, makes small positional and rotational adjustments, and lowers the block to fit onto the rod for nesting assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the white hexagonal block fitted on the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 907, "end_step": 1011, "id": "c873f589-dcd1-404a-951a-70cf0ac4ac50"}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand moves vertically upward with the grasped white hexagonal block, lifting it completely off the rightmost purple peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally to the table area adjacent to the right side of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 967, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the table surface, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves empty toward the white hexagonal block positioned in front-right of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes and adjusts its fingers to establish a grasp on the white hexagonal block on the table surface in front-right of the wooden base."}, {"label": "goal", "start_step": 1012, "end_step": 1143, "id": "ac471bd6-dea4-4b03-91e5-0410ff78f05e"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the target purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple vertical rod, lowers the block to fit snugly onto the rod, and opens fingers to release the block resting on the rod."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the front green hexagonal block on the table, staying empty before contacting the target block."}, {"label": "goal", "start_step": 1144, "end_step": 1305, "id": "e892daff-db5e-402f-aaa0-2b95fd8e26ef"}, {"label": "subtasks", "start_step": 1200, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table, adjusting finger positions repeatedly to close around the block and form a grip."}, {"label": "goal", "start_step": 1306, "end_step": 1494, "id": "4bd4ef51-1924-479d-8004-49185a367535"}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward and leftward toward the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg on the wooden base and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1372, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place_release: Right hand holds the white cylindrical block, places it onto the purple rod of the wooden stacking base, releasing the block as it rests stably on the rod."}, {"label": "goal", "start_step": 1495, "end_step": 1632, "id": "37c7266c-563d-4567-82bd-a0286ef97cf6"}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned next to the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact points to establish a stable grasp while the block remains on the table surface."}, {"label": "goal", "start_step": 1633, "end_step": 1797, "id": "1bdc5cab-6945-4c25-967e-e63b1ac967a2"}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1688, "end_step": 1784, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the assembly and lowers it to fit onto the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place_release: Right hand places the white hexagonal block onto the top of the green block on the wooden assembly base, opening fingers to release the block."}, {"label": "goal", "start_step": 1798, "end_step": 1896, "id": "6e29ac37-71f3-4121-b424-8980bffc2f23"}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves empty downwards and rightwards toward the white hexagonal block resting on the table near the assembly base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to establish a grip on the block."}, {"label": "goal", "start_step": 1897, "end_step": 2046, "id": "e9af571f-bbf7-4af2-a7d6-2c5b42cff2fa"}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward off the dark table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward to the position above the empty slot on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate_release: Right hand aligns the white hexagonal block with the vertical peg at the empty slot on the wooden base, lowers it to fit onto the peg and rest on the base, releases fingers to let go of the block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: retreat: Right hand moves empty away from the placed block toward the right side of the workspace."}, {"label": "goal", "start_step": 2047, "end_step": 2136, "id": "d62fa24d-973f-4347-bc84-4b9e8fecd984"}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves downward from the upper right position toward the white hexagonal nut on the dark table surface, with fingers held open as it approaches the target."}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger contact positions to form a grip while the nut remains resting on the table."}, {"label": "goal", "start_step": 2137, "end_step": 2286, "id": "acc8b8bb-ae66-48bb-994a-822f1be6de69"}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving it upward and leftward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack, fitting the block onto the rod as it moves downward."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place: Right hand lowers the white hexagonal block further until it rests stably on the underlying block of the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2294, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple rod of the wooden rack without observable movement."}, {"label": "goal", "start_step": 2287, "end_step": 2391, "id": "0be581ca-d791-4656-967a-5a758c40a6f4"}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: release_reach: Right hand releases the light purple cylinder on the wooden base and moves empty diagonally downward and rightward toward the green cube on the black work surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand makes contact with the green cube, with fingers curling and adjusting position to establish a grasp on the cube."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand lifts the gripped green block upward until it fully leaves the black table surface."}, {"label": "goal", "start_step": 2392, "end_step": 2838, "id": "b2a0e8d4-c89a-45ce-8aa2-21e50b78338d"}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand carries the green block upward and leftward to the position directly above the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2460, "end_step": 2647, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the green block with the top of the white bottle, making small positional adjustments to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2648, "end_step": 2691, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reorient: Right hand slightly lifts the misaligned green block and rotates it slightly to adjust its orientation for proper fitting."}, {"label": "subtasks", "start_step": 2692, "end_step": 2834, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the reoriented green block with the top of the white bottle and fits it securely onto the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: release: Right hand opens its fingers to release the green block, leaving it stably placed on the white bottle."}, {"label": "home", "start_step": 2877, "end_step": 2907, "id": "G_DnyrfZFnQjP6tVvqLCu"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves from the right side of the workspace toward the green hexagonal block adjacent to the wooden peg base, holding fingers in an extended open position while approaching the target."}, {"label": "subtasks", "start_step": 105, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block near the wooden peg base, making small finger and wrist adjustments to establish grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg to fit the block onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until it rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal block on the left purple peg to establish a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until it is completely separated from the purple peg on the pegboard."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand moves the grasped white hexagonal block downward to a position directly above the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place: Right hand lowers the grasped white hexagonal block onto the black table surface, making slight adjustments until the block is stably supported by the table."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: hold: Right hand holds the white hexagonal block steadily on the black table surface with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the white hexagonal block resting on the table, with the block remaining on the supporting surface."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air to position it directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 525, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moves the block downward to fit it onto the rod to form the assembly connection."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, fingers opening as the block tilts onto the base surface."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves downward with empty palm, approaching the white hexagonal block placed on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, fingers adjusting and closing to establish a grip on the block."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to the position directly above the leftmost purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod, makes small positional and rotational adjustments, and lowers the block to fit onto the rod for nesting assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the white hexagonal block fitted on the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand moves vertically upward with the grasped white hexagonal block, lifting it completely off the rightmost purple peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally to the table area adjacent to the right side of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 967, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the table surface, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves empty toward the white hexagonal block positioned in front-right of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes and adjusts its fingers to establish a grasp on the white hexagonal block on the table surface in front-right of the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the target purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple vertical rod, lowers the block to fit snugly onto the rod, and opens fingers to release the block resting on the rod."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the front green hexagonal block on the table, staying empty before contacting the target block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table, adjusting finger positions repeatedly to close around the block and form a grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward and leftward toward the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg on the wooden base and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1372, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place_release: Right hand holds the white cylindrical block, places it onto the purple rod of the wooden stacking base, releasing the block as it rests stably on the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned next to the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact points to establish a stable grasp while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1688, "end_step": 1784, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the assembly and lowers it to fit onto the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place_release: Right hand places the white hexagonal block onto the top of the green block on the wooden assembly base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves empty downwards and rightwards toward the white hexagonal block resting on the table near the assembly base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward off the dark table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward to the position above the empty slot on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate_release: Right hand aligns the white hexagonal block with the vertical peg at the empty slot on the wooden base, lowers it to fit onto the peg and rest on the base, releases fingers to let go of the block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: retreat: Right hand moves empty away from the placed block toward the right side of the workspace."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves downward from the upper right position toward the white hexagonal nut on the dark table surface, with fingers held open as it approaches the target."}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger contact positions to form a grip while the nut remains resting on the table."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving it upward and leftward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack, fitting the block onto the rod as it moves downward."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place: Right hand lowers the white hexagonal block further until it rests stably on the underlying block of the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2294, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple rod of the wooden rack without observable movement."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: release_reach: Right hand releases the light purple cylinder on the wooden base and moves empty diagonally downward and rightward toward the green cube on the black work surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand makes contact with the green cube, with fingers curling and adjusting position to establish a grasp on the cube."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand lifts the gripped green block upward until it fully leaves the black table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand carries the green block upward and leftward to the position directly above the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2460, "end_step": 2647, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the green block with the top of the white bottle, making small positional adjustments to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2648, "end_step": 2691, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reorient: Right hand slightly lifts the misaligned green block and rotates it slightly to adjust its orientation for proper fitting."}, {"label": "subtasks", "start_step": 2692, "end_step": 2834, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the reoriented green block with the top of the white bottle and fits it securely onto the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: release: Right hand opens its fingers to release the green block, leaving it stably placed on the white bottle."}], "episode_index": 10}
+{"source_uid": "05b78e749ea1556e", "num_frames": 2898, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white annular part on the wooden board."}, {"label": "goal", "start_step": 0, "end_step": 213, "id": "8f753365-d3ae-4ad5-98f2-a7ebc7d568e3"}, {"label": "valid", "start_step": 0, "end_step": 2867, "id": "7Ils49AEzxR6N4R8jEnNc"}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white annular part on the purple rod with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white annular part off the purple rod while moving leftward to the top of the leftmost green cube on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white annular part with the leftmost green cube by aligning and inserting it into the cube's central hole."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, fingers closing to form a stable grip."}, {"label": "goal", "start_step": 214, "end_step": 345, "id": "17ffc716-9215-4308-8b7d-b9023a499610"}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the area above the middle purple peg."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the green hexagonal block on the peg."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 346, "end_step": 471, "id": "0b63c421-686a-4e65-a833-d642a9b705a2"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach toward the leftmost white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table surface with fingers closing around the object."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 472, "end_step": 726, "id": "9b514351-bda3-459d-a402-dc8cb7a7b981"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the tabletop and transports it upward to the area above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal part with the purple peg and fits the part down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 548, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod above the green base block on the wooden board."}, {"label": "goal", "start_step": 727, "end_step": 870, "id": "dbc2e8d3-2aa7-4bad-93ed-46bb7e72cf46"}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to secure the grip."}, {"label": "goal", "start_step": 871, "end_step": 1041, "id": "623da2f7-b380-47fe-ae59-0f62cb3306f7"}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the peg board with purple pegs."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the right purple peg and releases its grip."}, {"label": "goal", "start_step": 1042, "end_step": 1152, "id": "8fed3cda-5ba5-4931-9693-24878ef462bf"}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1153, "end_step": 1281, "id": "4504c8d0-95d4-479b-914a-80dabb5f389d"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table surface and transports it upward to the position right above the purple peg."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the purple peg by aligning the block's hole with the peg and pressing it down onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg by opening its fingers, separating from the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper building block set toward the green hollow block on the table."}, {"label": "goal", "start_step": 1282, "end_step": 1386, "id": "ccb3fbb4-1bba-483e-8a80-7569a6736a09"}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green hollow block on the table and closes fingers to grasp it with slight adjustments."}, {"label": "goal", "start_step": 1387, "end_step": 1539, "id": "9cd201de-c016-4038-81c5-03dc74851021"}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it to the top of the vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the vertical peg on the wooden base by lowering and aligning the block's hole with the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the vertical peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on top of the green block of the upper stacked structure, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1540, "end_step": 1647, "id": "4b269527-8427-422a-93e3-e998500e2abd"}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block and adjusting the grip."}, {"label": "goal", "start_step": 1648, "end_step": 1812, "id": "cba11115-6648-4676-9f50-830abac2af82"}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal object off the table and moves it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal object with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1799, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal object on the purple rod without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on top of the block tower, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1813, "end_step": 1962, "id": "174097a2-3f38-4cd1-88e7-6683cf7f9a1c"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip while the block stays on the table surface."}, {"label": "goal", "start_step": 1963, "end_step": 2127, "id": "7494a133-98e5-41b8-94a9-b797a3421c16"}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and fits the block down onto the rod to complete nesting assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 2128, "end_step": 2241, "id": "18a04304-022f-437c-bf66-b91cf5c78093"}, {"label": "subtasks", "start_step": 2138, "end_step": 2181, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right toward the white block on the black table surface."}, {"label": "subtasks", "start_step": 2182, "end_step": 2257, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white block on the black table surface with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 2242, "end_step": 2454, "id": "d25fb54f-9a48-4c66-bc5b-86ff30951631"}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it toward the wooden tray with the purple rod."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod on the tray and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block down onto the wooden tray until it is supported by the tray surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2444, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white block on the purple rod of the tray without moving."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the purple component down into the white block on the wooden base and releases it."}, {"label": "goal", "start_step": 2455, "end_step": 2574, "id": "dec816b0-0ad7-4c99-9d24-083ede352632"}, {"label": "subtasks", "start_step": 2475, "end_step": 2511, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cube on the right side of the table."}, {"label": "subtasks", "start_step": 2512, "end_step": 2534, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2535, "end_step": 2564, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2565, "end_step": 2654, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2575, "end_step": 2826, "id": "c96b1883-b5c1-4cc0-befc-cca752ef5aa6"}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward off the dark table surface."}, {"label": "subtasks", "start_step": 2670, "end_step": 2707, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block upward and leftward to the position above the white bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2708, "end_step": 2834, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and lowers the green block onto the white bottle with a purple top on the wooden rack to complete assembly, then releases the green block."}, {"label": "home", "start_step": 2868, "end_step": 2897, "id": "YdkVZt0rEkjxKZNKGB034"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white annular part on the wooden board."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white annular part on the purple rod with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white annular part off the purple rod while moving leftward to the top of the leftmost green cube on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white annular part with the leftmost green cube by aligning and inserting it into the cube's central hole."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the area above the middle purple peg."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the green hexagonal block on the peg."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach toward the leftmost white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table surface with fingers closing around the object."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the tabletop and transports it upward to the area above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal part with the purple peg and fits the part down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 548, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod above the green base block on the wooden board."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the peg board with purple pegs."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the right purple peg and releases its grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table surface and transports it upward to the position right above the purple peg."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the purple peg by aligning the block's hole with the peg and pressing it down onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg by opening its fingers, separating from the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper building block set toward the green hollow block on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green hollow block on the table and closes fingers to grasp it with slight adjustments."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it to the top of the vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the vertical peg on the wooden base by lowering and aligning the block's hole with the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the vertical peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on top of the green block of the upper stacked structure, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block and adjusting the grip."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal object off the table and moves it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal object with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1799, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal object on the purple rod without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on top of the block tower, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and fits the block down onto the rod to complete nesting assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 2138, "end_step": 2181, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right toward the white block on the black table surface."}, {"label": "subtasks", "start_step": 2182, "end_step": 2257, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white block on the black table surface with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it toward the wooden tray with the purple rod."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod on the tray and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block down onto the wooden tray until it is supported by the tray surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2444, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white block on the purple rod of the tray without moving."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the purple component down into the white block on the wooden base and releases it."}, {"label": "subtasks", "start_step": 2475, "end_step": 2511, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cube on the right side of the table."}, {"label": "subtasks", "start_step": 2512, "end_step": 2534, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2535, "end_step": 2564, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2565, "end_step": 2654, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward off the dark table surface."}, {"label": "subtasks", "start_step": 2670, "end_step": 2707, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block upward and leftward to the position above the white bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2708, "end_step": 2834, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and lowers the green block onto the white bottle with a purple top on the wooden rack to complete assembly, then releases the green block."}], "episode_index": 11}
+{"source_uid": "68cfb8e72166c02f", "num_frames": 3920, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white and green block on the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 345, "id": "b2bcd226-cef7-4700-bec4-6d46141d7a5c"}, {"label": "valid", "start_step": 0, "end_step": 3882, "id": "RUI9dS_BZlxJlFCdlvpqC"}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white and green block on the leftmost purple rod, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 158, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white and green block upwards away from the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 344, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the grasped white and green block with the lower purple rod in front of the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it to the position above the target purple rod on the wooden base."}, {"label": "goal", "start_step": 346, "end_step": 516, "id": "6d461ff7-5132-46db-98ac-1e17435cd326"}, {"label": "subtasks", "start_step": 375, "end_step": 509, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand aligns the green block with the purple rod, inserts it onto the rod and releases the grip on the block."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 517, "end_step": 651, "id": "249c1aa3-fdf1-4be8-8897-5ccac07cf64e"}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 711, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 652, "end_step": 894, "id": "34b28562-7d9d-43ec-a948-6ab875123e1a"}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it towards the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 884, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the purple cylindrical post to secure its position, with minor adjustments to the hand posture."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white block onto the purple vertical post and releases the block."}, {"label": "goal", "start_step": 895, "end_step": 1014, "id": "cd2130f3-8950-478f-8ac9-2f91e40fac44"}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 1034, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1015, "end_step": 1308, "id": "7ea73b45-78c0-40c6-9853-4a0497345cce"}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the tabletop and transports it towards the wooden base with purple pillars."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cubic block with the target purple pillar on the wooden base and pushes it down to complete fitting."}, {"label": "subtasks", "start_step": 1110, "end_step": 1304, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cubic block fitted on the purple pillar without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post on the wooden base."}, {"label": "goal", "start_step": 1309, "end_step": 1440, "id": "024dc969-fa6f-48ad-8465-ea534564c81c"}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1395, "end_step": 1469, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 1441, "end_step": 1617, "id": "dbdb73a2-7f1e-46e9-960d-2854f399f45a"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1604, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green cube on the black table."}, {"label": "goal", "start_step": 1618, "end_step": 1740, "id": "dab5a8d1-83fd-4eee-b56a-52ddc4dde76d"}, {"label": "subtasks", "start_step": 1665, "end_step": 1769, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table, with slight grip adjustment."}, {"label": "goal", "start_step": 1741, "end_step": 1971, "id": "72264c6c-2a90-48a5-9e36-178f5712a17c"}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block completely off the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the target rod on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1964, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the target rod, inserts it down onto the rod and adjusts to stable position."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hollow block placed on the table."}, {"label": "goal", "start_step": 1972, "end_step": 2082, "id": "ff84c5ed-7a73-44d8-a0b1-320cff46e395"}, {"label": "subtasks", "start_step": 2010, "end_step": 2107, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches the white hollow block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2083, "end_step": 2358, "id": "9f489c54-23df-49e6-86c4-18f3a8a01d8a"}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2354, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylinder onto the stacked blocks on the wooden base."}, {"label": "goal", "start_step": 2359, "end_step": 2511, "id": "d432b949-0f66-414e-bd47-c3c626d4bada"}, {"label": "subtasks", "start_step": 2385, "end_step": 2467, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white cylinder on the tabletop to the right of the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2534, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches the white cylinder on the tabletop and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 2512, "end_step": 2754, "id": "19771aa0-4c83-4f9c-ba2b-3061a61a3678"}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylindrical block vertically up from the black table surface, making it leave the support surface."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white cylindrical block horizontally above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2580, "end_step": 2684, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by inserting the rod into the central hole of the block."}, {"label": "subtasks", "start_step": 2685, "end_step": 2744, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple rod without any movement."}, {"label": "subtasks", "start_step": 2745, "end_step": 2804, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed on the right of the table."}, {"label": "goal", "start_step": 2755, "end_step": 2880, "id": "e34e6e31-9c1b-43eb-8c09-760f77e6b985"}, {"label": "subtasks", "start_step": 2805, "end_step": 2879, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 2880, "end_step": 2901, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}, {"label": "goal", "start_step": 2881, "end_step": 3204, "id": "1a6caabb-f2a3-4e3a-a83b-21aed163b062"}, {"label": "subtasks", "start_step": 2902, "end_step": 2939, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the wooden rack with multiple blocks."}, {"label": "subtasks", "start_step": 2940, "end_step": 2984, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the vacant position of the wooden rack."}, {"label": "subtasks", "start_step": 2985, "end_step": 3194, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand adjusts and mates the white cylindrical block with the corresponding position on the wooden rack to complete assembly."}, {"label": "subtasks", "start_step": 3195, "end_step": 3231, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder placed on the wooden tray."}, {"label": "goal", "start_step": 3205, "end_step": 3336, "id": "8dd613cc-9e2f-493b-a7c6-8291c71ae35e"}, {"label": "subtasks", "start_step": 3232, "end_step": 3269, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green cubic block on the right side of the table surface."}, {"label": "subtasks", "start_step": 3270, "end_step": 3359, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 3337, "end_step": 3810, "id": "e482cd08-30db-44e0-af06-5e60761f62ed"}, {"label": "subtasks", "start_step": 3360, "end_step": 3381, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block upwards off the black table surface."}, {"label": "subtasks", "start_step": 3382, "end_step": 3411, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the target white cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 3412, "end_step": 3607, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the top of the white cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 3608, "end_step": 3794, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the white cylinder to fix it in place."}, {"label": "subtasks", "start_step": 3795, "end_step": 3809, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block that is fixed on the white cylinder."}, {"label": "subtasks", "start_step": 3810, "end_step": 3824, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats away from the green block position."}, {"label": "home", "start_step": 3883, "end_step": 3919, "id": "enRYWPUnH8Sz6hn7ywYOc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white and green block on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white and green block on the leftmost purple rod, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 158, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white and green block upwards away from the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 344, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the grasped white and green block with the lower purple rod in front of the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 509, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand aligns the green block with the purple rod, inserts it onto the rod and releases the grip on the block."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 711, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it towards the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 884, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the purple cylindrical post to secure its position, with minor adjustments to the hand posture."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white block onto the purple vertical post and releases the block."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 1034, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the tabletop and transports it towards the wooden base with purple pillars."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cubic block with the target purple pillar on the wooden base and pushes it down to complete fitting."}, {"label": "subtasks", "start_step": 1110, "end_step": 1304, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cubic block fitted on the purple pillar without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1395, "end_step": 1469, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1604, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green cube on the black table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1769, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block completely off the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the target rod on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1964, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the target rod, inserts it down onto the rod and adjusts to stable position."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hollow block placed on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2107, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches the white hollow block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2354, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylinder onto the stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 2385, "end_step": 2467, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white cylinder on the tabletop to the right of the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2534, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches the white cylinder on the tabletop and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylindrical block vertically up from the black table surface, making it leave the support surface."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white cylindrical block horizontally above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2580, "end_step": 2684, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by inserting the rod into the central hole of the block."}, {"label": "subtasks", "start_step": 2685, "end_step": 2744, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple rod without any movement."}, {"label": "subtasks", "start_step": 2745, "end_step": 2804, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed on the right of the table."}, {"label": "subtasks", "start_step": 2805, "end_step": 2879, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 2880, "end_step": 2901, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}, {"label": "subtasks", "start_step": 2902, "end_step": 2939, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the wooden rack with multiple blocks."}, {"label": "subtasks", "start_step": 2940, "end_step": 2984, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the vacant position of the wooden rack."}, {"label": "subtasks", "start_step": 2985, "end_step": 3194, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand adjusts and mates the white cylindrical block with the corresponding position on the wooden rack to complete assembly."}, {"label": "subtasks", "start_step": 3195, "end_step": 3231, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder placed on the wooden tray."}, {"label": "subtasks", "start_step": 3232, "end_step": 3269, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green cubic block on the right side of the table surface."}, {"label": "subtasks", "start_step": 3270, "end_step": 3359, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3360, "end_step": 3381, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block upwards off the black table surface."}, {"label": "subtasks", "start_step": 3382, "end_step": 3411, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the target white cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 3412, "end_step": 3607, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the top of the white cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 3608, "end_step": 3794, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the white cylinder to fix it in place."}, {"label": "subtasks", "start_step": 3795, "end_step": 3809, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block that is fixed on the white cylinder."}, {"label": "subtasks", "start_step": 3810, "end_step": 3824, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats away from the green block position."}], "episode_index": 12}
+{"source_uid": "205a570a41ce88ff", "num_frames": 2722, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves from its initial upper right position toward the green hexagonal block near the left side of the wooden assembly base, with fingers held extended."}, {"label": "goal", "start_step": 0, "end_step": 171, "id": "83a251a5-1dc5-4302-981f-616e811f90a0"}, {"label": "valid", "start_step": 0, "end_step": 2688, "id": "fxW1YSTOntrxxj6E4oYuF"}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the target block adjacent to the assembly base, adjusting wrist orientation and finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the gripped block steadily near the assembly base, with no visible movement of the hand, fingers or the grasped block."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the black table, making small finger adjustments to form a stable grip."}, {"label": "goal", "start_step": 172, "end_step": 405, "id": "a76b5602-6669-402f-b888-e8124efbb13c"}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift: Right hand moves vertically upward while gripping the green hexagonal block, lifting the block completely away from the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally over the workspace, positioning the block directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the held green hexagonal block with the purple peg on the wooden base, guiding the block down onto the peg with small positional adjustments to seat it properly."}, {"label": "subtasks", "start_step": 308, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement, rotation, or grip adjustment."}, {"label": "subtasks", "start_step": 405, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block seated on the purple peg, breaking contact with the block."}, {"label": "goal", "start_step": 406, "end_step": 591, "id": "42e9ff54-b8da-46c2-a36d-8580d6189fb2"}, {"label": "subtasks", "start_step": 412, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward toward the front-left white hexagonal block on the table in front of the wooden peg rack, with fingers kept open."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making minor finger adjustments to establish a secure grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the white hexagonal block steadily, with no visible movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal nut placed on the black table."}, {"label": "goal", "start_step": 592, "end_step": 738, "id": "8995acea-3fd1-48d2-a399-06edfdc2659a"}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: transport: Right hand moves the lifted white hexagonal nut to the position directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 645, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut to fit onto the post above the existing green hexagonal nut."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place_release: Right hand places the white hexagonal blocks onto the purple vertical posts on the wooden base, releasing its grip to leave the blocks stably supported by the posts."}, {"label": "goal", "start_step": 739, "end_step": 855, "id": "37d24e4b-b6f5-4848-b888-291e9f7a4f52"}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the front white hexagonal nut on the black table surface, remaining empty with no contact to the target nut."}, {"label": "subtasks", "start_step": 795, "end_step": 877, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the table, making minor adjustments to finger and wrist positions to establish a stable grip on the nut."}, {"label": "goal", "start_step": 856, "end_step": 981, "id": "5a6974cd-1f46-4ceb-a434-e0bd955cfb8e"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to position above the leftmost purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 900, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, makes slight positional adjustments, and fits the block down onto the peg to establish the nesting connection."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns and fits it onto the purple rod on the wooden base, then opens fingers to release the assembled block."}, {"label": "goal", "start_step": 982, "end_step": 1068, "id": "efbab8dd-a53c-4be6-b7b3-5127deccc93d"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward empty towards the white hexagonal block placed in front of the wooden base, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table surface, fingers close and make slight adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 1069, "end_step": 1371, "id": "747ca5c2-d0d1-44f9-95fe-ee5cb97d4d75"}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the supporting surface and moves it upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand makes slight positional and rotational adjustments to align the inner hole of the white hexagonal block with the purple rod, then slides the block down the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the purple peg of the wooden base, releases the block as it becomes stably supported by the peg."}, {"label": "goal", "start_step": 1372, "end_step": 1473, "id": "66829147-6ff5-4a6e-ab40-ad5042da56f6"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block resting on the black table surface in front of the wooden base, approaching until fingers make contact with the block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the contacted green hexagonal block on the table, makes small adjustments to finger positions to establish a stable grip on the block."}, {"label": "goal", "start_step": 1474, "end_step": 1611, "id": "742e13e4-71cb-452e-90b0-1227b6aaad3c"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward to the position directly above the purple post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and lowers the block to fit onto the post to establish the assembly connection."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place: Right hand slides the green hexagonal block down along the purple post until the block rests stably on the wooden base of the assembly stand."}, {"label": "subtasks", "start_step": 1605, "end_step": 1657, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward and rightward from the upper block assembly area to approach the white hexagonal nut on the dark table surface adjacent to the green block."}, {"label": "goal", "start_step": 1612, "end_step": 1740, "id": "a9512f1f-a788-4100-a880-40e4fae7c23b"}, {"label": "subtasks", "start_step": 1658, "end_step": 1754, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the dark table surface to establish a grip on the nut."}, {"label": "goal", "start_step": 1741, "end_step": 1857, "id": "48fc5542-efca-4b4d-a455-8cb2e4c918f4"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the work surface and transports it upward to the position directly above the target green post on the wooden block base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target green post and lowers the block to fit securely onto the post."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the mated white hexagonal block on the green post without any observable movement."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the purple rod on the stacked wooden block assembly, opens fingers to release the block."}, {"label": "goal", "start_step": 1858, "end_step": 1941, "id": "502d5072-72fc-4409-8868-c6f0eb9c67a5"}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves empty from above the stacked block assembly toward the white hexagonal block resting on the right tabletop, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand contacts the white hexagonal block on the tabletop, closes fingers around the block with minor positional adjustments to establish grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the black table surface."}, {"label": "goal", "start_step": 1942, "end_step": 2106, "id": "dd9c2d6a-a848-4be8-8e9d-de8df25b29eb"}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: transport: Right hand moves the grasped white hexagonal nut upward through the air to position it directly over the purple vertical rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2084, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod and slides the nut downward along the rod to fit it onto the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, fully separating from the nut as it rests at the base of the purple rod."}, {"label": "subtasks", "start_step": 2100, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves from the area above the stacked block set toward the white hexagonal nut on the dark table surface, with fingers slightly extended."}, {"label": "goal", "start_step": 2107, "end_step": 2190, "id": "bc9f4ee6-5f45-4607-a804-34ffbf61de23"}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making small finger adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "goal", "start_step": 2191, "end_step": 2343, "id": "6e868647-bdd1-4611-9d18-a6c1b540cae3"}, {"label": "subtasks", "start_step": 2212, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate_place: Right hand aligns the white hexagonal block with the empty rack slot and lowers it into the slot until the block is stably supported by the rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2339, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the seated white hexagonal block in the rack slot without moving."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block and moves slightly away from the block."}, {"label": "goal", "start_step": 2344, "end_step": 2478, "id": "f97b75d3-35e2-4df6-9508-5e0569517699"}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward and left toward the green cube on the black table surface with fingers spread, without contacting the cube."}, {"label": "subtasks", "start_step": 2385, "end_step": 2451, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand makes contact with the top of the green cube, adjusts finger positions and closes fingers to form a stable grasp, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the green cube on the black table surface without observable movement of the hand, fingers or the cube."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand adjusts grip on the green block resting on the dark table surface, fingers slightly tightening around the block."}, {"label": "goal", "start_step": 2479, "end_step": 2646, "id": "023485f6-c1cb-433e-b765-98e8084dba00"}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the green block off the dark table surface and moves it upward and leftward to the position above the target cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 2550, "end_step": 2617, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand adjusts the position of the green block to align its central hole with the target white cylinder on the tray, slightly shifting the block to fit onto the cylinder top."}, {"label": "subtasks", "start_step": 2618, "end_step": 2639, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place: Right hand lowers the aligned green block along the target cylinder until the block rests stably on the cylinder and is supported by the tray structure."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: release: Right hand opens its fingers to release the stably placed green block, separating from the block surface."}, {"label": "home", "start_step": 2689, "end_step": 2721, "id": "NSoBs0r8zv5JFV_LdFLOF"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves from its initial upper right position toward the green hexagonal block near the left side of the wooden assembly base, with fingers held extended."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the target block adjacent to the assembly base, adjusting wrist orientation and finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the gripped block steadily near the assembly base, with no visible movement of the hand, fingers or the grasped block."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the black table, making small finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift: Right hand moves vertically upward while gripping the green hexagonal block, lifting the block completely away from the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally over the workspace, positioning the block directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the held green hexagonal block with the purple peg on the wooden base, guiding the block down onto the peg with small positional adjustments to seat it properly."}, {"label": "subtasks", "start_step": 308, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement, rotation, or grip adjustment."}, {"label": "subtasks", "start_step": 405, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block seated on the purple peg, breaking contact with the block."}, {"label": "subtasks", "start_step": 412, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward toward the front-left white hexagonal block on the table in front of the wooden peg rack, with fingers kept open."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making minor finger adjustments to establish a secure grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the white hexagonal block steadily, with no visible movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal nut placed on the black table."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: transport: Right hand moves the lifted white hexagonal nut to the position directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 645, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut to fit onto the post above the existing green hexagonal nut."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place_release: Right hand places the white hexagonal blocks onto the purple vertical posts on the wooden base, releasing its grip to leave the blocks stably supported by the posts."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the front white hexagonal nut on the black table surface, remaining empty with no contact to the target nut."}, {"label": "subtasks", "start_step": 795, "end_step": 877, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the table, making minor adjustments to finger and wrist positions to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to position above the leftmost purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 900, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, makes slight positional adjustments, and fits the block down onto the peg to establish the nesting connection."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns and fits it onto the purple rod on the wooden base, then opens fingers to release the assembled block."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward empty towards the white hexagonal block placed in front of the wooden base, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table surface, fingers close and make slight adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the supporting surface and moves it upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand makes slight positional and rotational adjustments to align the inner hole of the white hexagonal block with the purple rod, then slides the block down the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the purple peg of the wooden base, releases the block as it becomes stably supported by the peg."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block resting on the black table surface in front of the wooden base, approaching until fingers make contact with the block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the contacted green hexagonal block on the table, makes small adjustments to finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward to the position directly above the purple post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and lowers the block to fit onto the post to establish the assembly connection."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place: Right hand slides the green hexagonal block down along the purple post until the block rests stably on the wooden base of the assembly stand."}, {"label": "subtasks", "start_step": 1605, "end_step": 1657, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward and rightward from the upper block assembly area to approach the white hexagonal nut on the dark table surface adjacent to the green block."}, {"label": "subtasks", "start_step": 1658, "end_step": 1754, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the dark table surface to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the work surface and transports it upward to the position directly above the target green post on the wooden block base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target green post and lowers the block to fit securely onto the post."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the mated white hexagonal block on the green post without any observable movement."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the purple rod on the stacked wooden block assembly, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves empty from above the stacked block assembly toward the white hexagonal block resting on the right tabletop, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand contacts the white hexagonal block on the tabletop, closes fingers around the block with minor positional adjustments to establish grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the black table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: transport: Right hand moves the grasped white hexagonal nut upward through the air to position it directly over the purple vertical rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2084, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod and slides the nut downward along the rod to fit it onto the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, fully separating from the nut as it rests at the base of the purple rod."}, {"label": "subtasks", "start_step": 2100, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves from the area above the stacked block set toward the white hexagonal nut on the dark table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making small finger adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 2212, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate_place: Right hand aligns the white hexagonal block with the empty rack slot and lowers it into the slot until the block is stably supported by the rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2339, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the seated white hexagonal block in the rack slot without moving."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block and moves slightly away from the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward and left toward the green cube on the black table surface with fingers spread, without contacting the cube."}, {"label": "subtasks", "start_step": 2385, "end_step": 2451, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand makes contact with the top of the green cube, adjusts finger positions and closes fingers to form a stable grasp, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the green cube on the black table surface without observable movement of the hand, fingers or the cube."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand adjusts grip on the green block resting on the dark table surface, fingers slightly tightening around the block."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the green block off the dark table surface and moves it upward and leftward to the position above the target cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 2550, "end_step": 2617, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand adjusts the position of the green block to align its central hole with the target white cylinder on the tray, slightly shifting the block to fit onto the cylinder top."}, {"label": "subtasks", "start_step": 2618, "end_step": 2639, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place: Right hand lowers the aligned green block along the target cylinder until the block rests stably on the cylinder and is supported by the tray structure."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: release: Right hand opens its fingers to release the stably placed green block, separating from the block surface."}], "episode_index": 13}
+{"source_uid": "b23f6bd450fa9d44", "num_frames": 2889, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the table, with slight upward movement. | Right hand: reach: Right hand moves from the right side of the table toward the front-left white hexagonal block on the wooden pegboard to approach the target."}, {"label": "goal", "start_step": 0, "end_step": 153, "id": "2397b2cf-1309-438d-ae68-57bafc7bc186"}, {"label": "valid", "start_step": 0, "end_step": 2853, "id": "S0h19bZ92UFOG1lbD5U9a"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the front-left white hexagonal block on the wooden pegboard to approach the target."}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the front-left white hexagonal block on the wooden pegboard, with slight downward movement and grip adjustment to stabilize the hold."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, pulling it away from the purple peg."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 154, "end_step": 357, "id": "4610825b-c78e-4975-90c7-68aec2eefd1d"}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and fits the block onto the peg, with slight position adjustments during the process."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 358, "end_step": 477, "id": "1c0e2a9d-ffca-4c0e-b816-e4b80e29e1c0"}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 478, "end_step": 804, "id": "5d9d1fd3-1d9f-454b-94b9-131c9b238051"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it to above the left front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the left front purple peg of the wooden base, pressing it down until it fits against the green block below."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple peg, with fingers opening and separating from the object."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the left front purple peg, moving right to above the middle front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the leftmost purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 805, "end_step": 924, "id": "14cbc050-f714-48bf-b72a-e29f11e23b29"}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the left part of the table."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left part of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left part of the table without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 925, "end_step": 1071, "id": "62812638-2d94-4dbe-b1d7-8d9e398feddd"}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and toward the wooden peg board."}, {"label": "subtasks", "start_step": 982, "end_step": 1064, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with a vertical peg on the wooden board and moves it downward to assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1072, "end_step": 1179, "id": "ccd3f254-0dfa-42a0-8661-0dfb6909edfa"}, {"label": "subtasks", "start_step": 1095, "end_step": 1169, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1180, "end_step": 1350, "id": "4ccdfef2-27e5-49ed-ad2c-fa257573ea4f"}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple vertical peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical peg, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block."}, {"label": "goal", "start_step": 1351, "end_step": 1455, "id": "a67ac341-84e5-4623-b78b-a42a6700b183"}, {"label": "subtasks", "start_step": 1365, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the rightmost purple rod of the building block set, with fingers opening and moving upward to separate from the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1456, "end_step": 1644, "id": "4e033e98-5d15-42cf-a3d9-80961a4492bd"}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward and leftward toward the wooden pegboard with white cylinders."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg on the pegboard and lowers it onto the peg for assembly."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the peg to push it further into position."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block on the purple rod of the wooden base, with fingers opening from closed state."}, {"label": "goal", "start_step": 1645, "end_step": 1803, "id": "e6afa545-4f49-4e71-9bcd-8f36ec8fd802"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, with hand remaining empty."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1732, "end_step": 1799, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylinder on the right side of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1804, "end_step": 1950, "id": "7b1e65fa-8eb5-4c16-a975-a92c83538027"}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1934, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the peg on the wooden base by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the wooden base peg without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical piece onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1951, "end_step": 2040, "id": "79c59c21-f210-4b68-8c0d-e936ce56051b"}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the dark table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the dark table surface with fingers closing around it."}, {"label": "goal", "start_step": 2041, "end_step": 2319, "id": "e8d706dc-3313-48c6-8799-4a871424ccbb"}, {"label": "subtasks", "start_step": 2085, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block stationary on the table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2167, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack, aligning and lowering the block onto the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod of the wooden rack and releases the block."}, {"label": "goal", "start_step": 2320, "end_step": 2415, "id": "7095bd55-2499-441d-bad1-25011d7957ad"}, {"label": "subtasks", "start_step": 2340, "end_step": 2369, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical block on the black table surface, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 2416, "end_step": 2559, "id": "89aeddef-70af-4ecc-8789-05b60dbdf3d6"}, {"label": "subtasks", "start_step": 2438, "end_step": 2467, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2527, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 2528, "end_step": 2541, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylindrical block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2542, "end_step": 2549, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the white hollow cylindrical block on the purple peg."}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right from the area near the white cylinder rack towards the green cube on the table, with fingers extended."}, {"label": "goal", "start_step": 2560, "end_step": 2652, "id": "c0c0069a-711d-4c07-9fdc-3472b4adc4bf"}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2640, "end_step": 2669, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the right area of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2653, "end_step": 2838, "id": "8e6926c2-123b-43b5-b5c2-6f573f8c6045"}, {"label": "subtasks", "start_step": 2670, "end_step": 2684, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward off the table surface."}, {"label": "subtasks", "start_step": 2685, "end_step": 2714, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftward and upward to the position above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2715, "end_step": 2759, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the white peg by aligning the block hole with the peg and fitting it downward."}, {"label": "subtasks", "start_step": 2760, "end_step": 2834, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block downward to secure it on the peg and releases the block."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats rightward away from the green block on the rack."}, {"label": "home", "start_step": 2854, "end_step": 2888, "id": "CDoXZz3dsSeVMWKoqsHu0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the table, with slight upward movement. | Right hand: reach: Right hand moves from the right side of the table toward the front-left white hexagonal block on the wooden pegboard to approach the target."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the front-left white hexagonal block on the wooden pegboard to approach the target."}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the front-left white hexagonal block on the wooden pegboard, with slight downward movement and grip adjustment to stabilize the hold."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, pulling it away from the purple peg."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and fits the block onto the peg, with slight position adjustments during the process."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it to above the left front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the left front purple peg of the wooden base, pressing it down until it fits against the green block below."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple peg, with fingers opening and separating from the object."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the left front purple peg, moving right to above the middle front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the leftmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the left part of the table."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left part of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left part of the table without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and toward the wooden peg board."}, {"label": "subtasks", "start_step": 982, "end_step": 1064, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with a vertical peg on the wooden board and moves it downward to assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1169, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple vertical peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical peg, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the rightmost purple rod of the building block set, with fingers opening and moving upward to separate from the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward and leftward toward the wooden pegboard with white cylinders."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg on the pegboard and lowers it onto the peg for assembly."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the peg to push it further into position."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block on the purple rod of the wooden base, with fingers opening from closed state."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, with hand remaining empty."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1732, "end_step": 1799, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylinder on the right side of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1934, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the peg on the wooden base by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the wooden base peg without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical piece onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the dark table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 2085, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block stationary on the table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2167, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack, aligning and lowering the block onto the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2369, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical block on the black table surface, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2438, "end_step": 2467, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2527, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 2528, "end_step": 2541, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylindrical block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2542, "end_step": 2549, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the white hollow cylindrical block on the purple peg."}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right from the area near the white cylinder rack towards the green cube on the table, with fingers extended."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2640, "end_step": 2669, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the right area of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2670, "end_step": 2684, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward off the table surface."}, {"label": "subtasks", "start_step": 2685, "end_step": 2714, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftward and upward to the position above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2715, "end_step": 2759, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the white peg by aligning the block hole with the peg and fitting it downward."}, {"label": "subtasks", "start_step": 2760, "end_step": 2834, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block downward to secure it on the peg and releases the block."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats rightward away from the green block on the rack."}], "episode_index": 14}
+{"source_uid": "dcd3493123c83854", "num_frames": 2762, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the middle wooden base."}, {"label": "goal", "start_step": 0, "end_step": 258, "id": "7cf04397-765d-4ced-97b5-3cda786b7df7"}, {"label": "valid", "start_step": 0, "end_step": 2731, "id": "E_Mjeva4rS46ctSVhq_-W"}, {"label": "subtasks", "start_step": 82, "end_step": 284, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to contact the white cylindrical block and adjusts the grip posture to stabilize the grasp."}, {"label": "goal", "start_step": 259, "end_step": 462, "id": "9cc71443-e3f9-41cb-aa4d-80f413939104"}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block with the target purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the desktop, not contacting the object yet."}, {"label": "goal", "start_step": 463, "end_step": 606, "id": "43f7e7b2-252e-41ca-a014-f7d3ff3a3d2b"}, {"label": "subtasks", "start_step": 525, "end_step": 629, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the desktop, making small adjustments to the grip."}, {"label": "goal", "start_step": 607, "end_step": 765, "id": "e2f09dac-abf1-4a87-badc-5df73c958d53"}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 764, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand lowers the white hexagonal block onto the purple rod and presses it down to complete the assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white annular object onto the purple post on the wooden base and releases its grip on the object."}, {"label": "goal", "start_step": 766, "end_step": 891, "id": "3a6d19db-10a8-4cc4-93f7-39702af18259"}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 929, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hollow hexagonal ring on the black table."}, {"label": "goal", "start_step": 892, "end_step": 1137, "id": "2647b08f-9f6e-41c2-bf76-697eefbc1f3c"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and transports it towards the wooden peg rack at the upper right of the frame."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1124, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the aligned peg to fix it in position."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the small white block on the table next to the wooden peg base."}, {"label": "goal", "start_step": 1138, "end_step": 1248, "id": "a2342574-3e9f-4666-8714-900269564893"}, {"label": "subtasks", "start_step": 1170, "end_step": 1229, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches the small white block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the small white block on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing to secure the block."}, {"label": "goal", "start_step": 1249, "end_step": 1401, "id": "4efbcaaf-ee9c-49f9-966b-c0d8fdbb7943"}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the black tabletop."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering and aligning the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves down towards the green hexagonal block placed on the table."}, {"label": "goal", "start_step": 1402, "end_step": 1503, "id": "adec1b63-6fee-40b9-bf79-b319bcc8b0e7"}, {"label": "subtasks", "start_step": 1448, "end_step": 1537, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 1504, "end_step": 1662, "id": "c6b6591e-76ae-4e3c-99d4-21abc9e30e1f"}, {"label": "subtasks", "start_step": 1538, "end_step": 1597, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the upper position of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1598, "end_step": 1649, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1663, "end_step": 1779, "id": "18efb929-3257-46e5-bb03-727557d879c7"}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1799, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1780, "end_step": 1923, "id": "b368c931-26a6-494e-a741-0d1cb629edf6"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 1830, "end_step": 1919, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1924, "end_step": 2049, "id": "e8c6814a-408e-486c-a277-664e4685549a"}, {"label": "subtasks", "start_step": 1972, "end_step": 2061, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 2050, "end_step": 2178, "id": "987368c0-2d10-4d76-8d47-cadab8c1718f"}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2100, "end_step": 2174, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod, inserting the rod through the block's hole and placing it onto the base."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 2179, "end_step": 2313, "id": "e2b63d02-892c-468c-8f49-de90d2fd2c1a"}, {"label": "subtasks", "start_step": 2235, "end_step": 2339, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 2314, "end_step": 2445, "id": "8c6352d1-ffaf-4518-b6dc-9d974b05b896"}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cube from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2378, "end_step": 2444, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cube with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 2445, "end_step": 2504, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green cube on the right part of the table without touching it."}, {"label": "goal", "start_step": 2446, "end_step": 2550, "id": "437a9352-93d6-442b-8c7a-5db91ee30d6b"}, {"label": "subtasks", "start_step": 2505, "end_step": 2571, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the green cube, closes fingers to adjust and form a grasp on the cube."}, {"label": "goal", "start_step": 2551, "end_step": 2697, "id": "6d96151d-467f-4c42-8c20-5cad90bb37bc"}, {"label": "subtasks", "start_step": 2572, "end_step": 2587, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up away from the table surface."}, {"label": "subtasks", "start_step": 2588, "end_step": 2617, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block towards the white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2669, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the top of the target white cylinder, adjusting position to complete fitting."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block, fingers open to separate from the block."}, {"label": "home", "start_step": 2732, "end_step": 2761, "id": "CE2ytdOXnSr6evhYweFcZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the middle wooden base."}, {"label": "subtasks", "start_step": 82, "end_step": 284, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to contact the white cylindrical block and adjusts the grip posture to stabilize the grasp."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block with the target purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the desktop, not contacting the object yet."}, {"label": "subtasks", "start_step": 525, "end_step": 629, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the desktop, making small adjustments to the grip."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 764, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand lowers the white hexagonal block onto the purple rod and presses it down to complete the assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white annular object onto the purple post on the wooden base and releases its grip on the object."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 929, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hollow hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and transports it towards the wooden peg rack at the upper right of the frame."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1124, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the aligned peg to fix it in position."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the small white block on the table next to the wooden peg base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1229, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches the small white block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the small white block on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing to secure the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the black tabletop."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering and aligning the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves down towards the green hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1537, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1538, "end_step": 1597, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the upper position of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1598, "end_step": 1649, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1799, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 1830, "end_step": 1919, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2061, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2100, "end_step": 2174, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod, inserting the rod through the block's hole and placing it onto the base."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2235, "end_step": 2339, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cube from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2378, "end_step": 2444, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cube with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 2445, "end_step": 2504, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green cube on the right part of the table without touching it."}, {"label": "subtasks", "start_step": 2505, "end_step": 2571, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the green cube, closes fingers to adjust and form a grasp on the cube."}, {"label": "subtasks", "start_step": 2572, "end_step": 2587, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up away from the table surface."}, {"label": "subtasks", "start_step": 2588, "end_step": 2617, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block towards the white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2669, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the top of the target white cylinder, adjusting position to complete fitting."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block, fingers open to separate from the block."}], "episode_index": 15}
+{"source_uid": "7fc31e6669e5cbb8", "num_frames": 2811, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: idle: Right hand remains empty at the right side of the workspace without moving toward target objects."}, {"label": "goal", "start_step": 0, "end_step": 168, "id": "af4b312b-239d-4fb5-add3-38151e8616f5"}, {"label": "valid", "start_step": 0, "end_step": 2779, "id": "M1jwAWCcpg5T2SzEHfIVo"}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves left and downward toward the small white object in front of the wooden peg block, with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers around the small white object in front of the wooden peg block, making fine adjustments of fingers and wrist to establish a grasp, with the object staying on the table surface."}, {"label": "goal", "start_step": 169, "end_step": 315, "id": "9b1f21ba-65ba-4ba4-9fba-4c00d950545b"}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the work surface and moves it upward to the area above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple post, then fits the block onto the top of the post."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place: Right hand moves the green hexagonal block downward along the purple post until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the purple rod on the wooden assembly base, releases the block when the block is supported by the base."}, {"label": "goal", "start_step": 316, "end_step": 507, "id": "ba5030af-44e3-4fc7-879c-296a893d4130"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the black table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusts finger positions and closes fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 435, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without visible movement or hand shape adjustment."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block resting on the table, adjusting grip to form a stable hold while the block remains on the table surface."}, {"label": "goal", "start_step": 508, "end_step": 690, "id": "c3101655-9c8b-489a-9092-13875f9af2e2"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowering the block to fit onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 562, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple rod, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand moves down to place the white hexagonal block onto the purple peg on the wooden base, opening fingers to release the block."}, {"label": "goal", "start_step": 691, "end_step": 840, "id": "c9cb72a1-9da7-4902-95b0-163750594618"}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward toward the left front white hexagonal block on the dark table surface, with fingers slightly spread."}, {"label": "subtasks", "start_step": 765, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the left front white hexagonal block to form a stable grip."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand holds the left front white hexagonal block on the dark table surface without any visible movement."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers and adjusts grip to grasp the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 841, "end_step": 996, "id": "05490fbf-a620-4174-bd9f-2116d82d0568"}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: transport: Right hand carries the white hexagonal nut through the air to the position directly above the target purple peg on the wooden block tray."}, {"label": "subtasks", "start_step": 900, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, moving the nut downward to fit it onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 982, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple peg, separating the hand from the nut."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand places the white hexagonal block onto the top of the stacked blocks on the purple rod and releases fingers to separate from the block."}, {"label": "goal", "start_step": 997, "end_step": 1134, "id": "9ec080ac-42ff-4015-82ad-14109ccd4285"}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward and rightward from the block stack toward the small white block on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts finger positions to close around and establish a grip on the small white block on the table."}, {"label": "goal", "start_step": 1135, "end_step": 1272, "id": "f31d0140-ce1c-45a5-9dc8-ae16de3ec454"}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position it directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand makes small positional adjustments to align the central opening of the white hexagonal block with the purple peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand lowers the held white hexagonal block along the purple rod to rest on the wooden base, opening fingers to release the supported block."}, {"label": "goal", "start_step": 1273, "end_step": 1380, "id": "613224e2-84b4-4131-8ea6-cd6092d2d91a"}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves empty downward toward the front green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts finger positions to close around the front green hexagonal block to establish a grip on the block."}, {"label": "goal", "start_step": 1381, "end_step": 1551, "id": "43cda51d-e8bb-4cfc-98ff-589a0df32ab1"}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift: Right hand lifts the firmly grasped green hexagonal block upward, raising it completely off the dark table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: transport: Right hand carries the lifted green block upward, moving it to a position directly above the purple vertical rod mounted on the wooden stand."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the purple rod, making small positional adjustments to fit the block over the rod end."}, {"label": "subtasks", "start_step": 1485, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place: Right hand moves the green block downward along the purple rod, lowering it until it rests on the supporting white component below on the wooden stand."}, {"label": "subtasks", "start_step": 1545, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1552, "end_step": 1665, "id": "ad322447-e756-4d39-97b9-5dda35c3d4c3"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts its grip on the white hollow cylinder resting on the dark table surface to form a stable hold."}, {"label": "goal", "start_step": 1666, "end_step": 1797, "id": "93604c62-e5c0-4184-9bb1-4c3dfce2dddf"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the dark table surface and moves it upward to the position directly above the target rod on the green block of the wooden assembly base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the white hollow cylinder with the target rod and lowers it to fit the cylinder onto the rod during the assembly motion."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: release: Right hand releases the top white cylindrical block on the purple rod, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1798, "end_step": 1911, "id": "3b9d59d5-db2f-4d6b-ac6e-e676065ca7c8"}, {"label": "subtasks", "start_step": 1808, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves empty toward the small white hexagonal block adjacent to the wooden base on the table."}, {"label": "subtasks", "start_step": 1852, "end_step": 1927, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to establish a stable grasp while the block stays on the table surface."}, {"label": "goal", "start_step": 1912, "end_step": 2250, "id": "61c2e6a8-56c6-4cfa-a99d-add49353db88"}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and moves it upward toward the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1980, "end_step": 2167, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, adjusts position and orientation to fit the cylinder onto the rod with small fine movements."}, {"label": "subtasks", "start_step": 2168, "end_step": 2241, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand lowers the white hexagonal cylinder along the purple rod to rest on the wooden stand surface, opens fingers to release contact with the cylinder."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: idle: Right hand stays empty beside the wooden stand without noticeable movement."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface while remaining empty, approaching the target without making contact."}, {"label": "goal", "start_step": 2251, "end_step": 2364, "id": "3ddd9f03-6a71-40cf-962e-941b03a318a7"}, {"label": "subtasks", "start_step": 2272, "end_step": 2309, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand makes initial contact with the white hexagonal block, closes fingers around it and adjusts contact points to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand maintains a stable grip on the white hexagonal block on the dark table surface with no visible movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts its fingers to close around and establish a stable grip on the white cylindrical object resting on the table."}, {"label": "goal", "start_step": 2365, "end_step": 2508, "id": "7201fcff-9d12-476c-85d4-aff42fe4030c"}, {"label": "subtasks", "start_step": 2385, "end_step": 2437, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical object completely off the table surface, moves it upward and leftward to the position directly above the purple rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 2438, "end_step": 2497, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the white cylindrical object with the purple rod, moves the object downward to fit it onto the rod until it rests stably on the white base below."}, {"label": "subtasks", "start_step": 2498, "end_step": 2504, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: release: Right hand opens its fingers to release the grip on the white cylindrical object, separating the hand from the placed object."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward and slightly to the right while empty, approaching the green cube placed on the right area of the dark table surface."}, {"label": "goal", "start_step": 2509, "end_step": 2604, "id": "00b9d4f8-38c8-4032-9a33-cb2c781ddb2e"}, {"label": "subtasks", "start_step": 2550, "end_step": 2631, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts finger positions around the green cube, slightly closing fingers to contact the cube surface to establish a stable grasp."}, {"label": "goal", "start_step": 2605, "end_step": 2757, "id": "469ed193-5313-483f-8a94-77cdb4fff5fa"}, {"label": "subtasks", "start_step": 2632, "end_step": 2647, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air toward the purple cylindrical post on the wooden block tray."}, {"label": "subtasks", "start_step": 2678, "end_step": 2759, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple cylindrical post, lowers the block to fit snugly onto the post with small positional adjustments, and opens fingers to release the block once seated."}, {"label": "home", "start_step": 2780, "end_step": 2810, "id": "9b9imCtue41N0LRBEaSEF"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: idle: Right hand remains empty at the right side of the workspace without moving toward target objects."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves left and downward toward the small white object in front of the wooden peg block, with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers around the small white object in front of the wooden peg block, making fine adjustments of fingers and wrist to establish a grasp, with the object staying on the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the work surface and moves it upward to the area above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple post, then fits the block onto the top of the post."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place: Right hand moves the green hexagonal block downward along the purple post until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the purple rod on the wooden assembly base, releases the block when the block is supported by the base."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the black table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusts finger positions and closes fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 435, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without visible movement or hand shape adjustment."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block resting on the table, adjusting grip to form a stable hold while the block remains on the table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowering the block to fit onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 562, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple rod, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand moves down to place the white hexagonal block onto the purple peg on the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward toward the left front white hexagonal block on the dark table surface, with fingers slightly spread."}, {"label": "subtasks", "start_step": 765, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the left front white hexagonal block to form a stable grip."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand holds the left front white hexagonal block on the dark table surface without any visible movement."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers and adjusts grip to grasp the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: transport: Right hand carries the white hexagonal nut through the air to the position directly above the target purple peg on the wooden block tray."}, {"label": "subtasks", "start_step": 900, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, moving the nut downward to fit it onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 982, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple peg, separating the hand from the nut."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand places the white hexagonal block onto the top of the stacked blocks on the purple rod and releases fingers to separate from the block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward and rightward from the block stack toward the small white block on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts finger positions to close around and establish a grip on the small white block on the table."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position it directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand makes small positional adjustments to align the central opening of the white hexagonal block with the purple peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand lowers the held white hexagonal block along the purple rod to rest on the wooden base, opening fingers to release the supported block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves empty downward toward the front green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts finger positions to close around the front green hexagonal block to establish a grip on the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift: Right hand lifts the firmly grasped green hexagonal block upward, raising it completely off the dark table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: transport: Right hand carries the lifted green block upward, moving it to a position directly above the purple vertical rod mounted on the wooden stand."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the purple rod, making small positional adjustments to fit the block over the rod end."}, {"label": "subtasks", "start_step": 1485, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place: Right hand moves the green block downward along the purple rod, lowering it until it rests on the supporting white component below on the wooden stand."}, {"label": "subtasks", "start_step": 1545, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts its grip on the white hollow cylinder resting on the dark table surface to form a stable hold."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the dark table surface and moves it upward to the position directly above the target rod on the green block of the wooden assembly base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the white hollow cylinder with the target rod and lowers it to fit the cylinder onto the rod during the assembly motion."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: release: Right hand releases the top white cylindrical block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves empty toward the small white hexagonal block adjacent to the wooden base on the table."}, {"label": "subtasks", "start_step": 1852, "end_step": 1927, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to establish a stable grasp while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and moves it upward toward the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1980, "end_step": 2167, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, adjusts position and orientation to fit the cylinder onto the rod with small fine movements."}, {"label": "subtasks", "start_step": 2168, "end_step": 2241, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand lowers the white hexagonal cylinder along the purple rod to rest on the wooden stand surface, opens fingers to release contact with the cylinder."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: idle: Right hand stays empty beside the wooden stand without noticeable movement."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface while remaining empty, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2272, "end_step": 2309, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand makes initial contact with the white hexagonal block, closes fingers around it and adjusts contact points to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand maintains a stable grip on the white hexagonal block on the dark table surface with no visible movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts its fingers to close around and establish a stable grip on the white cylindrical object resting on the table."}, {"label": "subtasks", "start_step": 2385, "end_step": 2437, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical object completely off the table surface, moves it upward and leftward to the position directly above the purple rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 2438, "end_step": 2497, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the white cylindrical object with the purple rod, moves the object downward to fit it onto the rod until it rests stably on the white base below."}, {"label": "subtasks", "start_step": 2498, "end_step": 2504, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: release: Right hand opens its fingers to release the grip on the white cylindrical object, separating the hand from the placed object."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward and slightly to the right while empty, approaching the green cube placed on the right area of the dark table surface."}, {"label": "subtasks", "start_step": 2550, "end_step": 2631, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts finger positions around the green cube, slightly closing fingers to contact the cube surface to establish a stable grasp."}, {"label": "subtasks", "start_step": 2632, "end_step": 2647, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air toward the purple cylindrical post on the wooden block tray."}, {"label": "subtasks", "start_step": 2678, "end_step": 2759, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple cylindrical post, lowers the block to fit snugly onto the post with small positional adjustments, and opens fingers to release the block once seated."}], "episode_index": 16}
+{"source_uid": "70dbf4c49481aa68", "num_frames": 4337, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the lower left initial position upward to the upper left home position. | Right hand: reach: Right hand moves from the right lower initial position toward the green hexagonal block at the left front of the wooden rack on the table."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "eaadea6e-5383-4327-8fbc-e84898bab7c8"}, {"label": "valid", "start_step": 0, "end_step": 4305, "id": "UyNgG8mhFWyIv2c-vY3bJ"}, {"label": "subtasks", "start_step": 30, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves from the right lower initial position toward the green hexagonal block at the left front of the wooden rack on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand holds the green hexagonal block and moves it backward toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and moves it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the green hexagonal block on the left table area, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 181, "end_step": 306, "id": "5949b39b-f2bf-4933-a8f3-c7d1731814ba"}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to above the leftmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning and sliding it down the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward from the upper peg board area toward the white hexagonal block on the left side of the table surface."}, {"label": "goal", "start_step": 307, "end_step": 462, "id": "1902dc4d-4ef4-4acc-bbcc-9d2111bc3d8a"}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hexagonal block on the left table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 390, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal block on the left table surface without moving."}, {"label": "goal", "start_step": 463, "end_step": 603, "id": "2db4378e-7757-46f1-a935-31f28483cdfe"}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it towards the leftmost purple peg on the background rack."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand mates the white hexagonal nut with the leftmost purple peg by aligning its hole with the peg top and inserting it onto the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: place: Right hand places the white hexagonal nut downward along the leftmost purple peg towards the green base."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: press_release: Right hand presses the white hexagonal block down onto the front-left purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 604, "end_step": 732, "id": "a685b50d-6f10-4834-bebb-d39338fd2319"}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal object on the black table without moving."}, {"label": "goal", "start_step": 733, "end_step": 858, "id": "8cce26a9-2c41-45fd-b087-fc3f802b3173"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white hexagonal object upward until it leaves the supporting surface."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand transports the white hexagonal object toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and inserts it downward onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal object fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: press: Right hand presses the white hexagonal block on the rightmost purple rod downward to apply pressure."}, {"label": "goal", "start_step": 859, "end_step": 978, "id": "b713121c-ef73-45cb-aeef-3e67d7e33551"}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward with empty hand to approach the small white object on the table next to the upper green block."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the small white object on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 979, "end_step": 1128, "id": "69479257-04eb-4005-9eaa-dbb0f1f21ed7"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white cylindrical piece from the table and transports it upward to the top of the middle purple rod."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the white cylindrical piece with the middle purple rod and inserts it downward onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 1129, "end_step": 1251, "id": "1c4b3d45-29e4-4fc7-9038-8dbfef3d57e5"}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate_release: Right hand mates the white ring onto the purple vertical rod and releases its grip on the ring."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1252, "end_step": 1377, "id": "cf59222b-a1e6-4eca-be29-cbb3d0dc435e"}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand mates the green block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate_release: Right hand mates the green block onto the purple peg of the wooden base before releasing the block."}, {"label": "goal", "start_step": 1378, "end_step": 1542, "id": "0010e9d2-c13a-4aba-bf9f-bcc8eed721e4"}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1543, "end_step": 2049, "id": "b8c6e67f-2f80-450c-9b18-b4a9d364b050"}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and moves it toward the upper middle wooden base with pegs."}, {"label": "subtasks", "start_step": 1575, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the white hollow cylinder with a peg on the wooden base and lowers it onto the peg to fit the two parts together."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand releases the white hollow cylinder on the peg, with fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 1695, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the white hollow cylinder that has fallen onto the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hollow cylinder on the table, with fingers closing and adjusting to form a stable grip while the cylinder remains on the table."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and moves it upward toward the peg on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the white hollow cylinder with the peg on the wooden base and lowers it onto the peg to fit the two parts together."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases it."}, {"label": "goal", "start_step": 2050, "end_step": 2145, "id": "29369598-63c6-40fe-8256-96bc9a897207"}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward and rightward to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white hexagonal block from the dark gray table surface."}, {"label": "goal", "start_step": 2146, "end_step": 2310, "id": "5905352f-5712-42c8-b072-1e9bc6f4d7c9"}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple rod and places it onto the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod over the wooden base without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand releases the white hexagonal block, leaving it on the purple rod and wooden base."}, {"label": "goal", "start_step": 2311, "end_step": 2922, "id": "0ebc22d3-cbab-4b3e-b30f-739d10e7f1bc"}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the white hex block on the table surface."}, {"label": "subtasks", "start_step": 2370, "end_step": 2444, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hex block on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2445, "end_step": 2497, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white hex block from the table and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: place_release: Right hand places the white hex block onto the purple rod then releases it, and the block falls onto the table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2631, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward and rightward toward the fallen white hex block on the table surface."}, {"label": "subtasks", "start_step": 2632, "end_step": 2721, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hex block on the table surface with fingers adjusting the grip."}, {"label": "subtasks", "start_step": 2722, "end_step": 2827, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: other:slide_white_hex_block_on_table: Right hand slides the white hex block on the table surface to adjust its position and orientation."}, {"label": "subtasks", "start_step": 2828, "end_step": 2909, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hex block on the table surface without moving."}, {"label": "subtasks", "start_step": 2910, "end_step": 2939, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white cubic object on the right side of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2923, "end_step": 3978, "id": "0d3219f8-823d-48c4-b8db-894cb038bb78"}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white cubic object off the table surface."}, {"label": "subtasks", "start_step": 2955, "end_step": 2984, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand transports the white cubic object leftward and upward toward the purple rod on the pegboard."}, {"label": "subtasks", "start_step": 2985, "end_step": 3337, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand adjusts the position of the white cubic object repeatedly to align it with the purple rod on the pegboard."}, {"label": "subtasks", "start_step": 3338, "end_step": 3351, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand releases the white cubic object, which falls onto the table surface."}, {"label": "subtasks", "start_step": 3352, "end_step": 3404, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand reaches downward toward the white cubic object that fell on the table."}, {"label": "subtasks", "start_step": 3405, "end_step": 3487, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the fallen white cubic object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3488, "end_step": 3591, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reorient: Right hand reorients the white cubic object on the table, rotating it to adjust its posture with little horizontal position change."}, {"label": "subtasks", "start_step": 3592, "end_step": 3614, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white cubic object slightly off the table surface."}, {"label": "subtasks", "start_step": 3615, "end_step": 3644, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: place: Right hand places the reoriented white cubic object back onto the table surface in an upright posture."}, {"label": "subtasks", "start_step": 3645, "end_step": 3674, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand opens its fingers and releases the white cubic object on the table."}, {"label": "subtasks", "start_step": 3675, "end_step": 3809, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand reaches toward the upright white cubic object on the table, moving to a position above the object."}, {"label": "subtasks", "start_step": 3810, "end_step": 3831, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the upright white cubic object on the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 3832, "end_step": 3854, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white cubic object off the table surface."}, {"label": "subtasks", "start_step": 3855, "end_step": 3884, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand transports the white cubic object leftward and upward toward the purple rod on the pegboard."}, {"label": "subtasks", "start_step": 3885, "end_step": 3974, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand adjusts the white cubic object to mate it onto the purple rod of the pegboard."}, {"label": "subtasks", "start_step": 3975, "end_step": 4004, "id": "reasoning-language-00081", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: press: Right hand presses down on the purple top of the white bottle at the front right of the wooden tray."}, {"label": "goal", "start_step": 3979, "end_step": 4086, "id": "54e55046-6030-4a8b-b48c-bca2bbf83d9c"}, {"label": "subtasks", "start_step": 4005, "end_step": 4034, "id": "reasoning-language-00082", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand reaches toward the green cube on the table, moving downward and rightward from the bottle tray area."}, {"label": "subtasks", "start_step": 4035, "end_step": 4071, "id": "reasoning-language-00083", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 4072, "end_step": 4079, "id": "reasoning-language-00084", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 4080, "end_step": 4117, "id": "reasoning-language-00085", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand adjusts its grip on the green ring object resting on the right work surface, with fingers slightly moving to stabilize the grasp."}, {"label": "goal", "start_step": 4087, "end_step": 4266, "id": "10c03e68-8e43-4019-af0d-32b8388b2790"}, {"label": "subtasks", "start_step": 4118, "end_step": 4154, "id": "reasoning-language-00086", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the green ring object off the work surface and moves it upward and leftward toward the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 4155, "end_step": 4221, "id": "reasoning-language-00087", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the green ring object with the top of the rightmost white bottle on the wooden rack and presses it down to fit onto the bottle."}, {"label": "subtasks", "start_step": 4222, "end_step": 4274, "id": "reasoning-language-00088", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release_retreat: Right hand releases the green ring object by opening its fingers, then moves slightly upward away from the bottle."}, {"label": "home", "start_step": 4306, "end_step": 4336, "id": "8_yg4OkkGAJNnbMrFa7ak"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the lower left initial position upward to the upper left home position. | Right hand: reach: Right hand moves from the right lower initial position toward the green hexagonal block at the left front of the wooden rack on the table."}, {"label": "subtasks", "start_step": 30, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves from the right lower initial position toward the green hexagonal block at the left front of the wooden rack on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand holds the green hexagonal block and moves it backward toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and moves it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the green hexagonal block on the left table area, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to above the leftmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning and sliding it down the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward from the upper peg board area toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hexagonal block on the left table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 390, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal block on the left table surface without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it towards the leftmost purple peg on the background rack."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand mates the white hexagonal nut with the leftmost purple peg by aligning its hole with the peg top and inserting it onto the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: place: Right hand places the white hexagonal nut downward along the leftmost purple peg towards the green base."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: press_release: Right hand presses the white hexagonal block down onto the front-left purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal object on the black table without moving."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white hexagonal object upward until it leaves the supporting surface."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand transports the white hexagonal object toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and inserts it downward onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal object fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: press: Right hand presses the white hexagonal block on the rightmost purple rod downward to apply pressure."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward with empty hand to approach the small white object on the table next to the upper green block."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the small white object on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white cylindrical piece from the table and transports it upward to the top of the middle purple rod."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the white cylindrical piece with the middle purple rod and inserts it downward onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate_release: Right hand mates the white ring onto the purple vertical rod and releases its grip on the ring."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand mates the green block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate_release: Right hand mates the green block onto the purple peg of the wooden base before releasing the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and moves it toward the upper middle wooden base with pegs."}, {"label": "subtasks", "start_step": 1575, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the white hollow cylinder with a peg on the wooden base and lowers it onto the peg to fit the two parts together."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand releases the white hollow cylinder on the peg, with fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 1695, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the white hollow cylinder that has fallen onto the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hollow cylinder on the table, with fingers closing and adjusting to form a stable grip while the cylinder remains on the table."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and moves it upward toward the peg on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the white hollow cylinder with the peg on the wooden base and lowers it onto the peg to fit the two parts together."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases it."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward and rightward to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white hexagonal block from the dark gray table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple rod and places it onto the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod over the wooden base without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand releases the white hexagonal block, leaving it on the purple rod and wooden base."}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the white hex block on the table surface."}, {"label": "subtasks", "start_step": 2370, "end_step": 2444, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hex block on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2445, "end_step": 2497, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white hex block from the table and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: place_release: Right hand places the white hex block onto the purple rod then releases it, and the block falls onto the table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2631, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward and rightward toward the fallen white hex block on the table surface."}, {"label": "subtasks", "start_step": 2632, "end_step": 2721, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hex block on the table surface with fingers adjusting the grip."}, {"label": "subtasks", "start_step": 2722, "end_step": 2827, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: other:slide_white_hex_block_on_table: Right hand slides the white hex block on the table surface to adjust its position and orientation."}, {"label": "subtasks", "start_step": 2828, "end_step": 2909, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hex block on the table surface without moving."}, {"label": "subtasks", "start_step": 2910, "end_step": 2939, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white cubic object on the right side of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white cubic object off the table surface."}, {"label": "subtasks", "start_step": 2955, "end_step": 2984, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand transports the white cubic object leftward and upward toward the purple rod on the pegboard."}, {"label": "subtasks", "start_step": 2985, "end_step": 3337, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand adjusts the position of the white cubic object repeatedly to align it with the purple rod on the pegboard."}, {"label": "subtasks", "start_step": 3338, "end_step": 3351, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand releases the white cubic object, which falls onto the table surface."}, {"label": "subtasks", "start_step": 3352, "end_step": 3404, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand reaches downward toward the white cubic object that fell on the table."}, {"label": "subtasks", "start_step": 3405, "end_step": 3487, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the fallen white cubic object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3488, "end_step": 3591, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reorient: Right hand reorients the white cubic object on the table, rotating it to adjust its posture with little horizontal position change."}, {"label": "subtasks", "start_step": 3592, "end_step": 3614, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white cubic object slightly off the table surface."}, {"label": "subtasks", "start_step": 3615, "end_step": 3644, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: place: Right hand places the reoriented white cubic object back onto the table surface in an upright posture."}, {"label": "subtasks", "start_step": 3645, "end_step": 3674, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand opens its fingers and releases the white cubic object on the table."}, {"label": "subtasks", "start_step": 3675, "end_step": 3809, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand reaches toward the upright white cubic object on the table, moving to a position above the object."}, {"label": "subtasks", "start_step": 3810, "end_step": 3831, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the upright white cubic object on the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 3832, "end_step": 3854, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white cubic object off the table surface."}, {"label": "subtasks", "start_step": 3855, "end_step": 3884, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand transports the white cubic object leftward and upward toward the purple rod on the pegboard."}, {"label": "subtasks", "start_step": 3885, "end_step": 3974, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand adjusts the white cubic object to mate it onto the purple rod of the pegboard."}, {"label": "subtasks", "start_step": 3975, "end_step": 4004, "id": "reasoning-language-00081", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: press: Right hand presses down on the purple top of the white bottle at the front right of the wooden tray."}, {"label": "subtasks", "start_step": 4005, "end_step": 4034, "id": "reasoning-language-00082", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand reaches toward the green cube on the table, moving downward and rightward from the bottle tray area."}, {"label": "subtasks", "start_step": 4035, "end_step": 4071, "id": "reasoning-language-00083", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 4072, "end_step": 4079, "id": "reasoning-language-00084", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 4080, "end_step": 4117, "id": "reasoning-language-00085", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand adjusts its grip on the green ring object resting on the right work surface, with fingers slightly moving to stabilize the grasp."}, {"label": "subtasks", "start_step": 4118, "end_step": 4154, "id": "reasoning-language-00086", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the green ring object off the work surface and moves it upward and leftward toward the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 4155, "end_step": 4221, "id": "reasoning-language-00087", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the green ring object with the top of the rightmost white bottle on the wooden rack and presses it down to fit onto the bottle."}, {"label": "subtasks", "start_step": 4222, "end_step": 4274, "id": "reasoning-language-00088", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release_retreat: Right hand releases the green ring object by opening its fingers, then moves slightly upward away from the bottle."}], "episode_index": 17}
+{"source_uid": "1c173c4d92f7e78d", "num_frames": 4357, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves forward towards the white hexagonal block on the leftmost position of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 204, "id": "e4f58672-6d2d-411e-843c-393357c03d23"}, {"label": "valid", "start_step": 0, "end_step": 4324, "id": "JFOPg_IF6mo5AHBs0ZV7b"}, {"label": "subtasks", "start_step": 82, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the leftmost position of the wooden base."}, {"label": "goal", "start_step": 205, "end_step": 342, "id": "22772273-bd44-411d-8251-f87bb2680729"}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple rod by fitting it down onto the rod until it is fully seated."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the green block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 343, "end_step": 501, "id": "889bdda0-fe7d-401a-8b97-9723109c68c6"}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black desktop."}, {"label": "subtasks", "start_step": 405, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black desktop."}, {"label": "goal", "start_step": 502, "end_step": 648, "id": "f247f3b3-be15-40a3-9da3-5663aaecddc7"}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 681, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 649, "end_step": 786, "id": "5673d973-8304-4e82-a8c0-b5c5e3e92a82"}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 787, "end_step": 933, "id": "ff4bf8bc-e603-4e71-a551-e410b64afaed"}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 929, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the corresponding purple rod on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves down towards the small white block placed on the table adjacent to the green wooden base."}, {"label": "goal", "start_step": 934, "end_step": 1044, "id": "60c095a5-4ce5-4939-8758-c7fab012534f"}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes its fingers around the small white block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1045, "end_step": 1203, "id": "a1d30461-30fc-4473-bd35-7f42cea0055e"}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1199, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand lowers the white hexagonal block to mate it onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1207, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards towards the upper green hexagonal block placed on the table."}, {"label": "goal", "start_step": 1204, "end_step": 1308, "id": "79ac7c88-caa6-447b-906b-80554074973b"}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fully fitted onto the purple peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards towards the upper green hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the upper green hexagonal block, with subtle finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 1309, "end_step": 1440, "id": "e696035e-1275-4959-9933-6736a9063484"}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it towards the wooden rack with vertical pegs."}, {"label": "subtasks", "start_step": 1350, "end_step": 1439, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green cube with the purple peg on the wooden rack, then inserts it down onto the peg until it is fully seated."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward from the stacked blocks area towards the white hollow cylinder on the black table."}, {"label": "goal", "start_step": 1441, "end_step": 1572, "id": "278438e0-fa99-4687-993b-3400ec3743fe"}, {"label": "subtasks", "start_step": 1492, "end_step": 1589, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow cylinder on the black table, with slight grip adjustment."}, {"label": "goal", "start_step": 1573, "end_step": 2802, "id": "2e677c87-2c4d-4b93-9098-6b6b66fb57f3"}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1620, "end_step": 2789, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the corresponding peg on the wooden base, adjusting its position to fit correctly."}, {"label": "subtasks", "start_step": 2790, "end_step": 2834, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block placed on the table near the wooden base."}, {"label": "goal", "start_step": 2803, "end_step": 2925, "id": "945c5cb6-100f-433a-8975-06eb6e715958"}, {"label": "subtasks", "start_step": 2835, "end_step": 2954, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand makes contact with the white cylindrical block on the table, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 2926, "end_step": 3093, "id": "a28dadda-eb1d-4b93-97b8-372df518abc0"}, {"label": "subtasks", "start_step": 2955, "end_step": 2991, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2992, "end_step": 3089, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and inserts it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 3090, "end_step": 3097, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the table."}, {"label": "goal", "start_step": 3094, "end_step": 3219, "id": "c3e57ba3-b7cb-4bc9-8fee-3cdc9d06d684"}, {"label": "subtasks", "start_step": 3098, "end_step": 3104, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 3105, "end_step": 3141, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 3142, "end_step": 3209, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers around the white cylindrical block and makes slight adjustments to stabilize the grasp."}, {"label": "subtasks", "start_step": 3210, "end_step": 3239, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the white cylindrical object from the black table surface."}, {"label": "goal", "start_step": 3220, "end_step": 3885, "id": "56978e5b-c5d7-4dea-a10d-0a0333af4756"}, {"label": "subtasks", "start_step": 3240, "end_step": 3277, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 3278, "end_step": 3351, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white cylindrical object onto the purple rod."}, {"label": "subtasks", "start_step": 3352, "end_step": 3434, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white cylindrical object, which falls onto the table surface beside the wooden rack."}, {"label": "subtasks", "start_step": 3435, "end_step": 3561, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach_grasp: Right hand reaches towards the fallen white cylindrical object and grasps it."}, {"label": "subtasks", "start_step": 3562, "end_step": 3629, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the white cylindrical object to the middle area of the black table."}, {"label": "subtasks", "start_step": 3630, "end_step": 3741, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts the grasp on the white cylindrical object placed on the table."}, {"label": "subtasks", "start_step": 3742, "end_step": 3787, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 3788, "end_step": 3869, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white cylindrical object onto the purple rod."}, {"label": "subtasks", "start_step": 3870, "end_step": 3884, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: hold: Right hand holds the white cylindrical object stably on the purple rod without moving."}, {"label": "subtasks", "start_step": 3885, "end_step": 3914, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white bottle on the wooden tray with fingers opening."}, {"label": "goal", "start_step": 3886, "end_step": 4002, "id": "fa5a34f8-b364-4421-a172-fbaf5b9bbcce"}, {"label": "subtasks", "start_step": 3915, "end_step": 3951, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 3952, "end_step": 4019, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 4003, "end_step": 4299, "id": "4e35eb9f-52f2-42cf-b197-565b024eab56"}, {"label": "subtasks", "start_step": 4020, "end_step": 4049, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green block upwards from the black tabletop until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 4050, "end_step": 4109, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the green block towards the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 4110, "end_step": 4289, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the green block with the white bottle with purple cap, fitting the block onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 4290, "end_step": 4304, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the green block after it is securely fitted onto the white bottle."}, {"label": "home", "start_step": 4325, "end_step": 4356, "id": "bwLdE3LT5x6ePO-AYVJTZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves forward towards the white hexagonal block on the leftmost position of the wooden base."}, {"label": "subtasks", "start_step": 82, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the leftmost position of the wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple rod by fitting it down onto the rod until it is fully seated."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the green block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black desktop."}, {"label": "subtasks", "start_step": 405, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black desktop."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 681, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 929, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the corresponding purple rod on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves down towards the small white block placed on the table adjacent to the green wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes its fingers around the small white block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1199, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand lowers the white hexagonal block to mate it onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1207, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards towards the upper green hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fully fitted onto the purple peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards towards the upper green hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the upper green hexagonal block, with subtle finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it towards the wooden rack with vertical pegs."}, {"label": "subtasks", "start_step": 1350, "end_step": 1439, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green cube with the purple peg on the wooden rack, then inserts it down onto the peg until it is fully seated."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward from the stacked blocks area towards the white hollow cylinder on the black table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1589, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow cylinder on the black table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1620, "end_step": 2789, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the corresponding peg on the wooden base, adjusting its position to fit correctly."}, {"label": "subtasks", "start_step": 2790, "end_step": 2834, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 2835, "end_step": 2954, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand makes contact with the white cylindrical block on the table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2955, "end_step": 2991, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2992, "end_step": 3089, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and inserts it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 3090, "end_step": 3097, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 3098, "end_step": 3104, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 3105, "end_step": 3141, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 3142, "end_step": 3209, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers around the white cylindrical block and makes slight adjustments to stabilize the grasp."}, {"label": "subtasks", "start_step": 3210, "end_step": 3239, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the white cylindrical object from the black table surface."}, {"label": "subtasks", "start_step": 3240, "end_step": 3277, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 3278, "end_step": 3351, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white cylindrical object onto the purple rod."}, {"label": "subtasks", "start_step": 3352, "end_step": 3434, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white cylindrical object, which falls onto the table surface beside the wooden rack."}, {"label": "subtasks", "start_step": 3435, "end_step": 3561, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach_grasp: Right hand reaches towards the fallen white cylindrical object and grasps it."}, {"label": "subtasks", "start_step": 3562, "end_step": 3629, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the white cylindrical object to the middle area of the black table."}, {"label": "subtasks", "start_step": 3630, "end_step": 3741, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts the grasp on the white cylindrical object placed on the table."}, {"label": "subtasks", "start_step": 3742, "end_step": 3787, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 3788, "end_step": 3869, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white cylindrical object onto the purple rod."}, {"label": "subtasks", "start_step": 3870, "end_step": 3884, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: hold: Right hand holds the white cylindrical object stably on the purple rod without moving."}, {"label": "subtasks", "start_step": 3885, "end_step": 3914, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white bottle on the wooden tray with fingers opening."}, {"label": "subtasks", "start_step": 3915, "end_step": 3951, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 3952, "end_step": 4019, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 4020, "end_step": 4049, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green block upwards from the black tabletop until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 4050, "end_step": 4109, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the green block towards the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 4110, "end_step": 4289, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the green block with the white bottle with purple cap, fitting the block onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 4290, "end_step": 4304, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the green block after it is securely fitted onto the white bottle."}], "episode_index": 18}
+{"source_uid": "78a0a364e241b4c5", "num_frames": 3143, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves leftward and downward from its initial right position toward the wooden assembly base, with fingers slightly extended, approaching the components near the base without making contact."}, {"label": "goal", "start_step": 0, "end_step": 222, "id": "10f6d6c4-74a9-4015-994f-4923b31add49"}, {"label": "valid", "start_step": 0, "end_step": 3108, "id": "clMsyZdk_9ZyGfTXrw2lc"}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand closes its fingers around the small green hexagonal block in front of the wooden assembly base, making slight finger and wrist adjustments to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the small green hexagonal block in front of the wooden assembly base without observable movement of the hand, fingers or the grasped block."}, {"label": "subtasks", "start_step": 210, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block near the wooden peg base."}, {"label": "goal", "start_step": 223, "end_step": 417, "id": "b5e06e7a-b29f-4982-8532-d58a313dc3d9"}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the dark support surface."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: transport: Right hand transports the lifted green hexagonal block upward to position it directly above the target purple peg."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit snugly onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: place_release: Right hand holds the green hexagonal block, lowers it to place it onto the purple post on the wooden base, opens fingers to release the block as it becomes supported by the base."}, {"label": "goal", "start_step": 418, "end_step": 720, "id": "af38b212-4de4-4af3-91c7-850138f9cc73"}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves downward with empty fingers toward the white hexagonal block located on the front-middle section of the table."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand closes fingers around the front-middle white hexagonal block, making small adjustments to finger positions and wrist angle to establish a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the table surface, moves it horizontally to a position adjacent to the nearby green hexagonal block."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block to place it on the table next to the green hexagonal block, opens fingers to release the block as it rests stably on the table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach_grasp: Right hand moves the short distance from the released white block to the adjacent green hexagonal block, closes fingers around the green block and makes slight adjustments to establish a stable grip on the table-supported block."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface with no observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the table surface, then lifts the block upward until it is fully separated from the table."}, {"label": "goal", "start_step": 721, "end_step": 888, "id": "26673f1d-19d4-4892-a4d8-6bc80a2c31ea"}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden pegboard, moving the block directly above the target purple peg."}, {"label": "subtasks", "start_step": 765, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand makes slight positional adjustments to align the white hexagonal block with the target purple peg, then lowers the block to fit onto the peg until it rests on the green block below, completing the mating action."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the purple rod on the wooden base, releases the block as the block becomes stably supported by the rod."}, {"label": "goal", "start_step": 889, "end_step": 1014, "id": "cf644744-91dd-447c-8658-7d92d66972e4"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers close and make small adjustments to establish a grip on the nut."}, {"label": "goal", "start_step": 1015, "end_step": 1161, "id": "b608bd2a-0a9a-4fb3-8a01-2eaa16e07980"}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the grasped block completely off the table, moves upward and backward toward the wooden block rack at the back of the workspace."}, {"label": "subtasks", "start_step": 1065, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the grasped block to align its central hole with the target purple peg on the wooden rack, fitting the block onto the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and nests the block onto the purple rod on the wooden base, with fingers opening to release the stably supported block."}, {"label": "goal", "start_step": 1162, "end_step": 1257, "id": "8ffc61e4-1693-4c42-b50a-d90f54c92514"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the white hexagonal block on the table in front of the base, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, adjusting finger positions and closing fingers to establish a grip on the block while the block stays supported by the table surface."}, {"label": "goal", "start_step": 1258, "end_step": 1440, "id": "7f077d95-eda8-4ef8-ad78-70412864308b"}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the grasped white hexagonal nut to align its central hole with the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut stationary on the top of the purple vertical rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1350, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to fit it onto the purple vertical rod as part of the assembly process."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves downward from the upper stacked block area toward the green hexagonal block on the dark table surface, remaining empty and not yet contacting the target block."}, {"label": "goal", "start_step": 1441, "end_step": 1551, "id": "34e21516-0cca-41a5-bfd4-13da3c16ddae"}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish a grasp while the block remains resting on the table surface."}, {"label": "goal", "start_step": 1552, "end_step": 1731, "id": "55a2e33a-0608-46aa-90f8-624d4c558d7e"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface, moves it upward and toward the wooden assembly to position it above the purple vertical rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1611, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple vertical rod without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: press: Right hand applies downward vertical force on the green hexagonal block to press it further along the purple vertical rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical component mounted on the purple peg of the wooden assembly base, separating fully from the component."}, {"label": "goal", "start_step": 1732, "end_step": 1836, "id": "c5af553e-c8aa-4249-bb4e-12704b4302f3"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1785, "end_step": 1851, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and adjusting contact points to establish a stable grip on the nut."}, {"label": "goal", "start_step": 1837, "end_step": 2019, "id": "21109e48-976e-4d16-9046-527b370e2767"}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving it upward and toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1882, "end_step": 2009, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand, lowering the block while making slight positional adjustments to fit it onto the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves rightward and downward toward the upper white hexagonal block on the dark table surface, with fingers held slightly open."}, {"label": "goal", "start_step": 2020, "end_step": 2121, "id": "0b85726f-dd25-40a5-9ae0-25221ada90c8"}, {"label": "subtasks", "start_step": 2070, "end_step": 2144, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal block on the dark table surface, adjusting finger positions to establish a grip on the block."}, {"label": "goal", "start_step": 2122, "end_step": 2295, "id": "52f09e87-9ae9-422f-bbf6-1fa3a8708a6e"}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface, moving the block upward and slightly leftward toward the purple vertical rod mounted on the wooden block tray."}, {"label": "subtasks", "start_step": 2182, "end_step": 2287, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, sliding the block down the rod until it rests securely on the wooden block tray to form the fitted assembly."}, {"label": "subtasks", "start_step": 2288, "end_step": 2294, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, completing full separation from the block surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the dark table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 2296, "end_step": 2388, "id": "0b337106-3dce-46dd-8189-66d62823deb8"}, {"label": "subtasks", "start_step": 2340, "end_step": 2369, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting finger contact positions to form a stable grip while the nut stays on the table surface."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the dark table surface, with no observable movement of the hand, fingers or the grasped nut."}, {"label": "goal", "start_step": 2389, "end_step": 2520, "id": "499ab308-a0ed-4764-9b42-3c40d03c0c11"}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward to the position directly above the purple rod placed on the wooden rack."}, {"label": "subtasks", "start_step": 2422, "end_step": 2519, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align it with the purple rod and fits the block down onto the rod to form the assembled state."}, {"label": "subtasks", "start_step": 2520, "end_step": 2527, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that is fitted on the purple rod."}, {"label": "goal", "start_step": 2521, "end_step": 2616, "id": "4b41d46b-7547-4e66-ab20-a859c0fcff65"}, {"label": "subtasks", "start_step": 2528, "end_step": 2571, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves diagonally downward and rightward toward the green holed block on the black table surface, staying empty during the movement."}, {"label": "subtasks", "start_step": 2572, "end_step": 2631, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand adjusts finger positions around the green holed block on the black table surface to establish a grip, with fingers in contact with the block."}, {"label": "goal", "start_step": 2617, "end_step": 3078, "id": "00727265-cfea-4436-a08b-f6561858b251"}, {"label": "subtasks", "start_step": 2632, "end_step": 2647, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: transport: Right hand carries the lifted green block forward and upward toward the target position above the wooden block rack."}, {"label": "subtasks", "start_step": 2678, "end_step": 2984, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align it with the purple cylindrical target on the rack, then lowers the block to fit onto the target cylinder."}, {"label": "subtasks", "start_step": 2985, "end_step": 3007, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: release: Right hand opens its fingers gradually to release the fitted green block, separating the hand from the block."}, {"label": "subtasks", "start_step": 3008, "end_step": 3089, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: retreat: Right hand moves away from the wooden block rack with an empty hand, retreating toward the upper right area of the workspace."}, {"label": "home", "start_step": 3109, "end_step": 3142, "id": "VZ6H_KmU_6QkdVh5hX_WK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves leftward and downward from its initial right position toward the wooden assembly base, with fingers slightly extended, approaching the components near the base without making contact."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand closes its fingers around the small green hexagonal block in front of the wooden assembly base, making slight finger and wrist adjustments to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the small green hexagonal block in front of the wooden assembly base without observable movement of the hand, fingers or the grasped block."}, {"label": "subtasks", "start_step": 210, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block near the wooden peg base."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the dark support surface."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: transport: Right hand transports the lifted green hexagonal block upward to position it directly above the target purple peg."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit snugly onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: place_release: Right hand holds the green hexagonal block, lowers it to place it onto the purple post on the wooden base, opens fingers to release the block as it becomes supported by the base."}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves downward with empty fingers toward the white hexagonal block located on the front-middle section of the table."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand closes fingers around the front-middle white hexagonal block, making small adjustments to finger positions and wrist angle to establish a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the table surface, moves it horizontally to a position adjacent to the nearby green hexagonal block."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block to place it on the table next to the green hexagonal block, opens fingers to release the block as it rests stably on the table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach_grasp: Right hand moves the short distance from the released white block to the adjacent green hexagonal block, closes fingers around the green block and makes slight adjustments to establish a stable grip on the table-supported block."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface with no observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the table surface, then lifts the block upward until it is fully separated from the table."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden pegboard, moving the block directly above the target purple peg."}, {"label": "subtasks", "start_step": 765, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand makes slight positional adjustments to align the white hexagonal block with the target purple peg, then lowers the block to fit onto the peg until it rests on the green block below, completing the mating action."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the purple rod on the wooden base, releases the block as the block becomes stably supported by the rod."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers close and make small adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the grasped block completely off the table, moves upward and backward toward the wooden block rack at the back of the workspace."}, {"label": "subtasks", "start_step": 1065, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the grasped block to align its central hole with the target purple peg on the wooden rack, fitting the block onto the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and nests the block onto the purple rod on the wooden base, with fingers opening to release the stably supported block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the white hexagonal block on the table in front of the base, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, adjusting finger positions and closing fingers to establish a grip on the block while the block stays supported by the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the grasped white hexagonal nut to align its central hole with the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut stationary on the top of the purple vertical rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1350, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to fit it onto the purple vertical rod as part of the assembly process."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves downward from the upper stacked block area toward the green hexagonal block on the dark table surface, remaining empty and not yet contacting the target block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish a grasp while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface, moves it upward and toward the wooden assembly to position it above the purple vertical rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1611, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple vertical rod without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: press: Right hand applies downward vertical force on the green hexagonal block to press it further along the purple vertical rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical component mounted on the purple peg of the wooden assembly base, separating fully from the component."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1785, "end_step": 1851, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and adjusting contact points to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving it upward and toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1882, "end_step": 2009, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand, lowering the block while making slight positional adjustments to fit it onto the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves rightward and downward toward the upper white hexagonal block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 2070, "end_step": 2144, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal block on the dark table surface, adjusting finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface, moving the block upward and slightly leftward toward the purple vertical rod mounted on the wooden block tray."}, {"label": "subtasks", "start_step": 2182, "end_step": 2287, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, sliding the block down the rod until it rests securely on the wooden block tray to form the fitted assembly."}, {"label": "subtasks", "start_step": 2288, "end_step": 2294, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, completing full separation from the block surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2340, "end_step": 2369, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting finger contact positions to form a stable grip while the nut stays on the table surface."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the dark table surface, with no observable movement of the hand, fingers or the grasped nut."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward to the position directly above the purple rod placed on the wooden rack."}, {"label": "subtasks", "start_step": 2422, "end_step": 2519, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align it with the purple rod and fits the block down onto the rod to form the assembled state."}, {"label": "subtasks", "start_step": 2520, "end_step": 2527, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 2528, "end_step": 2571, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves diagonally downward and rightward toward the green holed block on the black table surface, staying empty during the movement."}, {"label": "subtasks", "start_step": 2572, "end_step": 2631, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand adjusts finger positions around the green holed block on the black table surface to establish a grip, with fingers in contact with the block."}, {"label": "subtasks", "start_step": 2632, "end_step": 2647, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: transport: Right hand carries the lifted green block forward and upward toward the target position above the wooden block rack."}, {"label": "subtasks", "start_step": 2678, "end_step": 2984, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align it with the purple cylindrical target on the rack, then lowers the block to fit onto the target cylinder."}, {"label": "subtasks", "start_step": 2985, "end_step": 3007, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: release: Right hand opens its fingers gradually to release the fitted green block, separating the hand from the block."}, {"label": "subtasks", "start_step": 3008, "end_step": 3089, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: retreat: Right hand moves away from the wooden block rack with an empty hand, retreating toward the upper right area of the workspace."}], "episode_index": 19}
+{"source_uid": "787f0dd8ca193c8c", "num_frames": 3835, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty upward from the lower left initial position to the left front home position and stops there. | Right hand: reach: Right hand moves empty from the right initial position toward the leftmost green hexagonal block on the front table surface, rotating its wrist about 90 degrees to face downward during movement, approaching the block without contact."}, {"label": "goal", "start_step": 0, "end_step": 237, "id": "5a3e3453-885e-4023-9474-e9183791a063"}, {"label": "valid", "start_step": 0, "end_step": 3803, "id": "sMSpbPUAqhyGgfJ-98wyv"}, {"label": "subtasks", "start_step": 38, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves empty from the right initial position toward the leftmost green hexagonal block on the front table surface, rotating its wrist about 90 degrees to face downward during movement, approaching the block without contact."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost green hexagonal block on the table, adjusting the grip slightly to stabilize the block."}, {"label": "subtasks", "start_step": 158, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it backward toward the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple rod and moves it downward to mate the block with the rod."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 238, "end_step": 549, "id": "1fe75579-8fda-443c-b701-b9261c6603d6"}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 300, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and inserts it downwards onto the peg for assembly adjustment."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple rod of the base and releases the block."}, {"label": "goal", "start_step": 550, "end_step": 711, "id": "91b89573-ee1c-498b-89a0-1737df343d3c"}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the left of the green cubic block."}, {"label": "subtasks", "start_step": 622, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the green support block, with fingers closing to adjust and form a stable grip."}, {"label": "goal", "start_step": 712, "end_step": 915, "id": "0def94cf-0892-4e88-8e3d-7cc39511557f"}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block upward, making it completely leave the green support block on the table."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: transport: Right hand holds the white hexagonal block and moves upward and leftward to the position above the leftmost purple vertical post."}, {"label": "subtasks", "start_step": 780, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post and moves it downward to fit the block onto the post for assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white hexagonal block fitted on the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 916, "end_step": 1032, "id": "4cb76808-b2a5-4db4-9985-eb0b8cd6c7bf"}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the left side of the black work surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the black work surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1033, "end_step": 1236, "id": "6ffce847-103a-4a1e-b924-163fc4f2e71d"}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the area above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost peg of the wooden rack and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1132, "end_step": 1229, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white block on the leftmost green-based pillar, with fingers opening and moving upward away from the block."}, {"label": "goal", "start_step": 1237, "end_step": 1404, "id": "878578a3-a8ff-412b-9e33-51fd3933de43"}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves down and right toward the small white block on the black table surface while empty."}, {"label": "subtasks", "start_step": 1320, "end_step": 1417, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the small white block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1405, "end_step": 1569, "id": "3a7d448f-35ff-4bb0-b9dd-57af3c60f1ca"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers, separating from the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white block on top of the column of the wooden base, with fingers opening gradually."}, {"label": "goal", "start_step": 1570, "end_step": 1668, "id": "22caa718-22d3-45e8-81ee-764a443c6fc0"}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward from the upper column area toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1687, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1669, "end_step": 2181, "id": "3a779dee-2f0b-41e8-b764-aa9c9d37b641"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the peg board at the back."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the middle purple peg and inserts it downwards to complete initial mating."}, {"label": "subtasks", "start_step": 1762, "end_step": 1821, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1822, "end_step": 1881, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the green hexagonal block by opening its fingers gradually."}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block again by closing its fingers around the block."}, {"label": "subtasks", "start_step": 1928, "end_step": 2159, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: push: Right hand pushes the green hexagonal block downwards along the purple peg."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate_release: Right hand fits the green hexagonal block onto the purple peg and releases its grip."}, {"label": "goal", "start_step": 2182, "end_step": 2319, "id": "e2f82cca-9097-4d52-9890-5c66229fb85d"}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the dark table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2320, "end_step": 2538, "id": "8d75872d-ea93-4828-a752-498cfc55ebec"}, {"label": "subtasks", "start_step": 2340, "end_step": 2391, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2392, "end_step": 2534, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod on the wooden base by aligning the hole and inserting the block downwards."}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the top white block on the rightmost column of the wooden base."}, {"label": "goal", "start_step": 2539, "end_step": 2679, "id": "e41ba5e6-8261-4fea-83ab-08a6c35dd8ee"}, {"label": "subtasks", "start_step": 2550, "end_step": 2587, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand reaches downward toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2588, "end_step": 2624, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 2625, "end_step": 2669, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal cylinder on the dark table, with fingers slightly adjusting to stabilize the grip."}, {"label": "goal", "start_step": 2680, "end_step": 3024, "id": "aea2cba6-78d0-4aa3-81b1-49c3492d6401"}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal cylinder from the table surface until it fully leaves the support."}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: transport: Right hand transports the white hexagonal cylinder upward and leftward to the position right above the purple rod."}, {"label": "subtasks", "start_step": 2745, "end_step": 2961, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple rod and lowers it to fit onto the rod, adjusting the assembly position."}, {"label": "subtasks", "start_step": 2962, "end_step": 3014, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal cylinder fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 3015, "end_step": 3044, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical rod on the right side of the wooden base."}, {"label": "goal", "start_step": 3025, "end_step": 3255, "id": "f6aa2eb5-caad-4135-af09-579b087c0b92"}, {"label": "subtasks", "start_step": 3045, "end_step": 3081, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 3082, "end_step": 3149, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3150, "end_step": 3254, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: other:adjust_held_block: Right hand holds the white hexagonal block and makes small position and orientation adjustments above the table surface."}, {"label": "subtasks", "start_step": 3255, "end_step": 3299, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cube from the black tabletop and transports it to the position above the purple rod on the wooden rack."}, {"label": "goal", "start_step": 3256, "end_step": 3462, "id": "71871c60-82a0-4ed4-871d-ba65530fa39a"}, {"label": "subtasks", "start_step": 3300, "end_step": 3397, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand mates the white cube with the purple rod on the wooden rack by lowering and fitting the cube onto the rod."}, {"label": "subtasks", "start_step": 3398, "end_step": 3434, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white cube on the purple rod, with fingers opening to separate from the cube."}, {"label": "subtasks", "start_step": 3435, "end_step": 3449, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: retreat: Right hand retreats from the assembly position toward the right lower side of the frame."}, {"label": "subtasks", "start_step": 3450, "end_step": 3479, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward toward the green cubic object on the dark tabletop."}, {"label": "goal", "start_step": 3463, "end_step": 3549, "id": "f080a1b1-ee34-4664-b926-ab3198897b20"}, {"label": "subtasks", "start_step": 3480, "end_step": 3501, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic object on the dark tabletop."}, {"label": "subtasks", "start_step": 3502, "end_step": 3539, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the green cubic object on the dark tabletop without moving."}, {"label": "subtasks", "start_step": 3540, "end_step": 3569, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the green cube on the black table, with fingers adjusting to stabilize the grip while the cube stays on the table surface."}, {"label": "goal", "start_step": 3550, "end_step": 3765, "id": "a5d7fc55-52d1-4de8-b4e6-cd5c485ef200"}, {"label": "subtasks", "start_step": 3570, "end_step": 3614, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward to the position above the target white post on the wooden base."}, {"label": "subtasks", "start_step": 3615, "end_step": 3779, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand mates the green cube with the target white post by aligning the cube's central hole with the post and lowering the cube down onto the post to complete the fitting."}, {"label": "home", "start_step": 3804, "end_step": 3834, "id": "B10tVAiRiDWtqWBkljBYS"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty upward from the lower left initial position to the left front home position and stops there. | Right hand: reach: Right hand moves empty from the right initial position toward the leftmost green hexagonal block on the front table surface, rotating its wrist about 90 degrees to face downward during movement, approaching the block without contact."}, {"label": "subtasks", "start_step": 38, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves empty from the right initial position toward the leftmost green hexagonal block on the front table surface, rotating its wrist about 90 degrees to face downward during movement, approaching the block without contact."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost green hexagonal block on the table, adjusting the grip slightly to stabilize the block."}, {"label": "subtasks", "start_step": 158, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it backward toward the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple rod and moves it downward to mate the block with the rod."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 300, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and inserts it downwards onto the peg for assembly adjustment."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple rod of the base and releases the block."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the left of the green cubic block."}, {"label": "subtasks", "start_step": 622, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the green support block, with fingers closing to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block upward, making it completely leave the green support block on the table."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: transport: Right hand holds the white hexagonal block and moves upward and leftward to the position above the leftmost purple vertical post."}, {"label": "subtasks", "start_step": 780, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post and moves it downward to fit the block onto the post for assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white hexagonal block fitted on the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the left side of the black work surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the black work surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the area above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost peg of the wooden rack and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1132, "end_step": 1229, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white block on the leftmost green-based pillar, with fingers opening and moving upward away from the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves down and right toward the small white block on the black table surface while empty."}, {"label": "subtasks", "start_step": 1320, "end_step": 1417, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the small white block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers, separating from the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white block on top of the column of the wooden base, with fingers opening gradually."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward from the upper column area toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1687, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the peg board at the back."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the middle purple peg and inserts it downwards to complete initial mating."}, {"label": "subtasks", "start_step": 1762, "end_step": 1821, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1822, "end_step": 1881, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the green hexagonal block by opening its fingers gradually."}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block again by closing its fingers around the block."}, {"label": "subtasks", "start_step": 1928, "end_step": 2159, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: push: Right hand pushes the green hexagonal block downwards along the purple peg."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate_release: Right hand fits the green hexagonal block onto the purple peg and releases its grip."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the dark table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2340, "end_step": 2391, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2392, "end_step": 2534, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod on the wooden base by aligning the hole and inserting the block downwards."}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the top white block on the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 2550, "end_step": 2587, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand reaches downward toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2588, "end_step": 2624, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 2625, "end_step": 2669, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal cylinder on the dark table, with fingers slightly adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal cylinder from the table surface until it fully leaves the support."}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: transport: Right hand transports the white hexagonal cylinder upward and leftward to the position right above the purple rod."}, {"label": "subtasks", "start_step": 2745, "end_step": 2961, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple rod and lowers it to fit onto the rod, adjusting the assembly position."}, {"label": "subtasks", "start_step": 2962, "end_step": 3014, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal cylinder fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 3015, "end_step": 3044, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical rod on the right side of the wooden base."}, {"label": "subtasks", "start_step": 3045, "end_step": 3081, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 3082, "end_step": 3149, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3150, "end_step": 3254, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: other:adjust_held_block: Right hand holds the white hexagonal block and makes small position and orientation adjustments above the table surface."}, {"label": "subtasks", "start_step": 3255, "end_step": 3299, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cube from the black tabletop and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 3300, "end_step": 3397, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand mates the white cube with the purple rod on the wooden rack by lowering and fitting the cube onto the rod."}, {"label": "subtasks", "start_step": 3398, "end_step": 3434, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white cube on the purple rod, with fingers opening to separate from the cube."}, {"label": "subtasks", "start_step": 3435, "end_step": 3449, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: retreat: Right hand retreats from the assembly position toward the right lower side of the frame."}, {"label": "subtasks", "start_step": 3450, "end_step": 3479, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward toward the green cubic object on the dark tabletop."}, {"label": "subtasks", "start_step": 3480, "end_step": 3501, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic object on the dark tabletop."}, {"label": "subtasks", "start_step": 3502, "end_step": 3539, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the green cubic object on the dark tabletop without moving."}, {"label": "subtasks", "start_step": 3540, "end_step": 3569, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the green cube on the black table, with fingers adjusting to stabilize the grip while the cube stays on the table surface."}, {"label": "subtasks", "start_step": 3570, "end_step": 3614, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward to the position above the target white post on the wooden base."}, {"label": "subtasks", "start_step": 3615, "end_step": 3779, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand mates the green cube with the target white post by aligning the cube's central hole with the post and lowering the cube down onto the post to complete the fitting."}], "episode_index": 20}
+{"source_uid": "a9eebee9221cfca2", "num_frames": 3399, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block placed in front of the wooden peg rack on the table."}, {"label": "goal", "start_step": 0, "end_step": 177, "id": "15df6725-db7e-4ae5-b033-378fb2550ee9"}, {"label": "valid", "start_step": 0, "end_step": 3370, "id": "iJa7BNV8VWJN5KNnVTTl4"}, {"label": "subtasks", "start_step": 112, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upwards off the black table surface."}, {"label": "goal", "start_step": 178, "end_step": 303, "id": "52de6906-83ad-4d5c-9af3-385db1d445e6"}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple peg by aligning and fitting it onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to secure it."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the mounting rack, adjusting the block to fit properly."}, {"label": "goal", "start_step": 304, "end_step": 426, "id": "f356b8ee-9f47-4854-8aa2-59d8cffb5d23"}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downward from the mounting rack to the position above the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 352, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 427, "end_step": 624, "id": "60a78764-3c7b-4507-8c52-3c50c5a32492"}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and presses it down onto the rod for assembly."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 625, "end_step": 765, "id": "51e3ba76-4693-45a4-9355-52b4452732fd"}, {"label": "subtasks", "start_step": 652, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the gray table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the gray table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 766, "end_step": 984, "id": "baa77e12-7bd9-4261-84f4-67930f123b09"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align it with the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the white hexagonal block downward along the purple rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward away from the white hexagonal block and the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 985, "end_step": 1086, "id": "2a0e8620-aae4-4edd-b59c-37cdd6095911"}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white block on the black tabletop near the wooden base, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 1087, "end_step": 1311, "id": "34938d88-ba0d-42b1-8a02-cdba1a428805"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white block up off the black tabletop."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the purple rod, inserting the block onto the rod and pressing it down to complete assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green block on the table, without contacting the block."}, {"label": "goal", "start_step": 1312, "end_step": 1419, "id": "172e5c8e-f518-4a80-bb77-84158b77c9a1"}, {"label": "subtasks", "start_step": 1358, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1420, "end_step": 1605, "id": "141b4731-93c4-44d3-b284-bedcb5e01fd8"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it to the top of the post on the wooden rack."}, {"label": "subtasks", "start_step": 1462, "end_step": 1634, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the post on the wooden rack and inserts it onto the post."}, {"label": "goal", "start_step": 1606, "end_step": 1740, "id": "9ce22534-ec44-46ba-b47c-6a86787e8fc2"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1761, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1741, "end_step": 2403, "id": "bc0ab469-8b72-4910-bcff-7e2219c36e3a"}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 2039, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip after mating it onto the peg."}, {"label": "subtasks", "start_step": 2055, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the second white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the second white hexagonal block on the tabletop, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the second white hexagonal block off the tabletop and transports it towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2280, "end_step": 2391, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the second white hexagonal block with the target peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 2392, "end_step": 2399, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the second white hexagonal block after fitting it onto the peg."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block near the wooden block set."}, {"label": "goal", "start_step": 2404, "end_step": 2502, "id": "0247fc2f-a4b8-49aa-8c4a-8dd09e31016b"}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2503, "end_step": 2719, "id": "518a4f06-edaf-4c50-979a-c66c211d4d2d"}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the table surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2580, "end_step": 2714, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2715, "end_step": 2774, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the desktop without contacting the block."}, {"label": "goal", "start_step": 2720, "end_step": 2835, "id": "49bb0109-a163-4dc6-82d6-b24b59cb0d7a"}, {"label": "subtasks", "start_step": 2775, "end_step": 2864, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the desktop, with fingers adjusting to form stable grasp."}, {"label": "goal", "start_step": 2836, "end_step": 3045, "id": "feba28fd-19a1-4a33-be2f-d9df90221fa3"}, {"label": "subtasks", "start_step": 2865, "end_step": 2879, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block off the table surface."}, {"label": "subtasks", "start_step": 2880, "end_step": 2894, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block towards the shelf with the purple rod."}, {"label": "subtasks", "start_step": 2895, "end_step": 3044, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block placed on the purple rod."}, {"label": "goal", "start_step": 3046, "end_step": 3150, "id": "a51e3ecf-5a0a-476d-b8d4-a6aaba66c539"}, {"label": "subtasks", "start_step": 3060, "end_step": 3097, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the area near the white bottle rack towards the green cubic object on the table."}, {"label": "subtasks", "start_step": 3098, "end_step": 3134, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cubic object, adjusts finger position to form a stable grip on the object."}, {"label": "subtasks", "start_step": 3135, "end_step": 3149, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic object slightly upward while the object remains in contact with the table surface."}, {"label": "subtasks", "start_step": 3150, "end_step": 3171, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black table surface."}, {"label": "goal", "start_step": 3151, "end_step": 3330, "id": "a5cbd446-f391-491d-a5db-8a6f5f4f5c4b"}, {"label": "subtasks", "start_step": 3172, "end_step": 3194, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the white bottle rack."}, {"label": "subtasks", "start_step": 3195, "end_step": 3329, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle with a purple protruding rod on the rack."}, {"label": "subtasks", "start_step": 3330, "end_step": 3344, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green block onto the top of the target white bottle and releases its grip."}, {"label": "home", "start_step": 3371, "end_step": 3398, "id": "z-vJje9GmcF5Urwk0B9zU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block placed in front of the wooden peg rack on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upwards off the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple peg by aligning and fitting it onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to secure it."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the mounting rack, adjusting the block to fit properly."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downward from the mounting rack to the position above the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 352, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and presses it down onto the rod for assembly."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 652, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the gray table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the gray table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align it with the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the white hexagonal block downward along the purple rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward away from the white hexagonal block and the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white block on the black tabletop near the wooden base, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white block up off the black tabletop."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the purple rod, inserting the block onto the rod and pressing it down to complete assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green block on the table, without contacting the block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it to the top of the post on the wooden rack."}, {"label": "subtasks", "start_step": 1462, "end_step": 1634, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the post on the wooden rack and inserts it onto the post."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1761, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 2039, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip after mating it onto the peg."}, {"label": "subtasks", "start_step": 2055, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the second white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the second white hexagonal block on the tabletop, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the second white hexagonal block off the tabletop and transports it towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2280, "end_step": 2391, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the second white hexagonal block with the target peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 2392, "end_step": 2399, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the second white hexagonal block after fitting it onto the peg."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block near the wooden block set."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the table surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2580, "end_step": 2714, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2715, "end_step": 2774, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the desktop without contacting the block."}, {"label": "subtasks", "start_step": 2775, "end_step": 2864, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the desktop, with fingers adjusting to form stable grasp."}, {"label": "subtasks", "start_step": 2865, "end_step": 2879, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block off the table surface."}, {"label": "subtasks", "start_step": 2880, "end_step": 2894, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block towards the shelf with the purple rod."}, {"label": "subtasks", "start_step": 2895, "end_step": 3044, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block placed on the purple rod."}, {"label": "subtasks", "start_step": 3060, "end_step": 3097, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the area near the white bottle rack towards the green cubic object on the table."}, {"label": "subtasks", "start_step": 3098, "end_step": 3134, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cubic object, adjusts finger position to form a stable grip on the object."}, {"label": "subtasks", "start_step": 3135, "end_step": 3149, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic object slightly upward while the object remains in contact with the table surface."}, {"label": "subtasks", "start_step": 3150, "end_step": 3171, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 3172, "end_step": 3194, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the white bottle rack."}, {"label": "subtasks", "start_step": 3195, "end_step": 3329, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle with a purple protruding rod on the rack."}, {"label": "subtasks", "start_step": 3330, "end_step": 3344, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green block onto the top of the target white bottle and releases its grip."}], "episode_index": 21}
+{"source_uid": "d7393521e5a4da8d", "num_frames": 3120, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block near the wooden peg base, with fingers held in an extended posture."}, {"label": "goal", "start_step": 0, "end_step": 219, "id": "7b2efaf2-f16b-4e21-b57f-eb1dce93a970"}, {"label": "valid", "start_step": 0, "end_step": 3088, "id": "xqHVuNgRLa0TeoITlkek9"}, {"label": "subtasks", "start_step": 105, "end_step": 247, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table surface, making small continuous adjustments of fingers and wrist to form a grip on the block."}, {"label": "goal", "start_step": 220, "end_step": 348, "id": "3751d0fe-09ef-40e5-9c92-81a07d4c6606"}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, fully separating the block from the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block upward to position it directly over the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, sliding the block down the peg to seat it on the existing block stack."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the seated green hexagonal block on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand grips the white hexagonal block on the wooden peg of the rack, lifting it upward to fully separate the block from the supporting peg."}, {"label": "goal", "start_step": 349, "end_step": 462, "id": "c425200b-786b-41cc-9363-6db606271b54"}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block downward and backward toward the area behind the wooden rack."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions around the front white hexagonal block resting on the table, closing fingers gradually to establish a firm grip on the block."}, {"label": "goal", "start_step": 463, "end_step": 585, "id": "11f43aec-0123-402a-a508-c4755832e4f1"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and slides the block down the rod to fit onto the green block fixed on the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper wooden block assembly area toward the left white hexagonal block on the dark work surface, staying empty as it approaches the target."}, {"label": "goal", "start_step": 586, "end_step": 702, "id": "437e28cd-446d-4cf2-a79a-6c7637d9af75"}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the left white hexagonal block on the dark work surface, making slight finger position adjustments to form a grip on the block."}, {"label": "goal", "start_step": 703, "end_step": 876, "id": "4610771b-1d54-403b-9840-30973c8f4525"}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white-topped green-based block completely off the table surface and moves it upward toward the target purple peg on the light wooden block base."}, {"label": "subtasks", "start_step": 772, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the grasped block with the target purple peg and lowers the block to fit it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: press: Right hand presses the white hexagonal block on the leftmost purple rod downward to seat it firmly on the underlying green block."}, {"label": "goal", "start_step": 877, "end_step": 1014, "id": "2a72ec9f-0adb-4a1f-8649-7b97a6816ce5"}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the leftmost assembly rod toward the loose white hexagonal nut positioned in front of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut in front of the wooden base, making small adjustments to finger positions to establish a stable grip."}, {"label": "goal", "start_step": 1015, "end_step": 1158, "id": "a97202bb-c13f-40d7-8d0e-5ad65511bbcb"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves it upward to position it directly above the right purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the right purple peg and lowers the block, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate_release: Right hand aligns and seats the white cylindrical block onto the purple peg of the wooden assembly, releasing grip on the secured block."}, {"label": "goal", "start_step": 1159, "end_step": 1266, "id": "a53315eb-6925-40a2-9dc9-dc6059732d13"}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward to approach the green hexagonal block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1289, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1267, "end_step": 1473, "id": "49692b80-23b4-45a7-affb-4ae7df4f4d25"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand moves upward to lift the grasped green block completely off the dark table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green block upward toward the purple peg mounted on the wooden base, positioning the block above the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the green block stationary directly above the purple peg without observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 1388, "end_step": 1469, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, lowers the block to slide it onto the peg to form the mated assembly."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: place: Right hand holds the green block and moves it downward to place it onto the purple peg on the wooden assembly base until the block is stably supported."}, {"label": "goal", "start_step": 1474, "end_step": 1593, "id": "c48dcfe3-0307-45b1-93a3-3ee82f95ec80"}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the assembly base area toward the white hexagonal block on the dark work surface, remaining empty before making contact with the block."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the dark work surface, fingers close around the block with small adjustments to establish a stable grip."}, {"label": "goal", "start_step": 1594, "end_step": 1788, "id": "9bfbb142-84da-4844-b162-a83642e5ab6c"}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1769, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and moves the block downward along the rod to fit it into place on the assembly."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to separate from the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves from above the stacked blocks toward the front white hexagonal nut next to the wooden block stand, with fingers open."}, {"label": "goal", "start_step": 1789, "end_step": 1884, "id": "e0367596-b78c-43d7-bdcd-d173efbf5c14"}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut next to the wooden block stand, making slight adjustments to establish a stable grip."}, {"label": "goal", "start_step": 1885, "end_step": 2088, "id": "abcf9cef-b80c-46db-bd31-b30f19903805"}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the gripped white hexagonal object upward, fully separating it from the supporting table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the white hexagonal object upward and toward the purple vertical rod on the wooden block holder, stopping directly above the rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 2084, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal object with the purple vertical rod, then moves the object downward to fit it onto the rod to establish the assembled connection."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table near the wooden block stand."}, {"label": "goal", "start_step": 2089, "end_step": 2199, "id": "e224e325-7e1f-4312-ba89-002e993be44b"}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the small white block resting on the table adjacent to the wooden roll stand to form a stable grip, with the block remaining on the table surface."}, {"label": "goal", "start_step": 2200, "end_step": 2472, "id": "6678879e-4087-417d-b46f-8441b6030cb1"}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand moves upward with the grasped white block until the block is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white block through the air to position it directly above the purple rod mounted on the wooden stand."}, {"label": "subtasks", "start_step": 2258, "end_step": 2369, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central opening of the white block with the purple rod and lowers the block to fit it onto the rod, establishing the assembled connection between the two parts."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the white block fitted onto the purple rod with no observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2511, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward while empty, approaching the green hollow cube placed on the dark gray work surface."}, {"label": "goal", "start_step": 2473, "end_step": 2565, "id": "3ce3e1de-4540-4445-9bdd-f92f659aafa9"}, {"label": "subtasks", "start_step": 2512, "end_step": 2564, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the green hollow cube, making small adjustments to finger contact positions to establish a grip, with the cube still resting on the work surface."}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand holds the green block on the black table surface and lifts it upward until the block is fully separated from the table surface."}, {"label": "goal", "start_step": 2566, "end_step": 3054, "id": "7506fbe9-d54d-4618-83ae-9b10a32551ed"}, {"label": "subtasks", "start_step": 2588, "end_step": 2631, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green block, moving upward and toward the purple cylinder on the wooden pallet until the block is positioned directly above the cylinder."}, {"label": "subtasks", "start_step": 2632, "end_step": 2677, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the green block with the purple cylinder below and moves the block downward to fit onto the cylinder, establishing initial assembly contact."}, {"label": "subtasks", "start_step": 2678, "end_step": 3037, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand maintains grip on the green block, making slight observable adjustments to finger positions and wrist angle to reposition the block relative to the purple cylinder."}, {"label": "subtasks", "start_step": 3038, "end_step": 3059, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: release: Right hand gradually opens its fingers to release the green block, separating from the block which rests against the adjacent white bottle on the wooden pallet."}, {"label": "home", "start_step": 3089, "end_step": 3119, "id": "4bSPt44GgPFzz5z1xwCqu"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block near the wooden peg base, with fingers held in an extended posture."}, {"label": "subtasks", "start_step": 105, "end_step": 247, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table surface, making small continuous adjustments of fingers and wrist to form a grip on the block."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, fully separating the block from the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block upward to position it directly over the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, sliding the block down the peg to seat it on the existing block stack."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the seated green hexagonal block on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand grips the white hexagonal block on the wooden peg of the rack, lifting it upward to fully separate the block from the supporting peg."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block downward and backward toward the area behind the wooden rack."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions around the front white hexagonal block resting on the table, closing fingers gradually to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and slides the block down the rod to fit onto the green block fixed on the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper wooden block assembly area toward the left white hexagonal block on the dark work surface, staying empty as it approaches the target."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the left white hexagonal block on the dark work surface, making slight finger position adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white-topped green-based block completely off the table surface and moves it upward toward the target purple peg on the light wooden block base."}, {"label": "subtasks", "start_step": 772, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the grasped block with the target purple peg and lowers the block to fit it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: press: Right hand presses the white hexagonal block on the leftmost purple rod downward to seat it firmly on the underlying green block."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the leftmost assembly rod toward the loose white hexagonal nut positioned in front of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut in front of the wooden base, making small adjustments to finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves it upward to position it directly above the right purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the right purple peg and lowers the block, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate_release: Right hand aligns and seats the white cylindrical block onto the purple peg of the wooden assembly, releasing grip on the secured block."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward to approach the green hexagonal block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1289, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand moves upward to lift the grasped green block completely off the dark table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green block upward toward the purple peg mounted on the wooden base, positioning the block above the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the green block stationary directly above the purple peg without observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 1388, "end_step": 1469, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, lowers the block to slide it onto the peg to form the mated assembly."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: place: Right hand holds the green block and moves it downward to place it onto the purple peg on the wooden assembly base until the block is stably supported."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the assembly base area toward the white hexagonal block on the dark work surface, remaining empty before making contact with the block."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the dark work surface, fingers close around the block with small adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1769, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and moves the block downward along the rod to fit it into place on the assembly."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to separate from the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves from above the stacked blocks toward the front white hexagonal nut next to the wooden block stand, with fingers open."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut next to the wooden block stand, making slight adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the gripped white hexagonal object upward, fully separating it from the supporting table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the white hexagonal object upward and toward the purple vertical rod on the wooden block holder, stopping directly above the rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 2084, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal object with the purple vertical rod, then moves the object downward to fit it onto the rod to establish the assembled connection."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table near the wooden block stand."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the small white block resting on the table adjacent to the wooden roll stand to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand moves upward with the grasped white block until the block is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white block through the air to position it directly above the purple rod mounted on the wooden stand."}, {"label": "subtasks", "start_step": 2258, "end_step": 2369, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central opening of the white block with the purple rod and lowers the block to fit it onto the rod, establishing the assembled connection between the two parts."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the white block fitted onto the purple rod with no observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2511, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward while empty, approaching the green hollow cube placed on the dark gray work surface."}, {"label": "subtasks", "start_step": 2512, "end_step": 2564, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the green hollow cube, making small adjustments to finger contact positions to establish a grip, with the cube still resting on the work surface."}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand holds the green block on the black table surface and lifts it upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2588, "end_step": 2631, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green block, moving upward and toward the purple cylinder on the wooden pallet until the block is positioned directly above the cylinder."}, {"label": "subtasks", "start_step": 2632, "end_step": 2677, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the green block with the purple cylinder below and moves the block downward to fit onto the cylinder, establishing initial assembly contact."}, {"label": "subtasks", "start_step": 2678, "end_step": 3037, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand maintains grip on the green block, making slight observable adjustments to finger positions and wrist angle to reposition the block relative to the purple cylinder."}, {"label": "subtasks", "start_step": 3038, "end_step": 3059, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: release: Right hand gradually opens its fingers to release the green block, separating from the block which rests against the adjacent white bottle on the wooden pallet."}], "episode_index": 22}
+{"source_uid": "5eedac17893957af", "num_frames": 2986, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:reposition: Left hand moves upward from the lower left area to the upper left side of the workspace. | Right hand: reach: Right hand moves leftward and upward from the right side of the workspace to approach the white hexagonal block on top of the leftmost purple rod."}, {"label": "goal", "start_step": 0, "end_step": 255, "id": "781e1129-6f04-4e4e-9bee-723beb1d070e"}, {"label": "valid", "start_step": 0, "end_step": 2954, "id": "XJ-muylcFV5lc8pAz7QX5"}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: reach: Right hand moves leftward and upward from the right side of the workspace to approach the white hexagonal block on top of the leftmost purple rod."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on top of the leftmost purple rod."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, separating it from the leftmost purple rod."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves leftward and downward to above the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 142, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the hole of the green hexagonal block and inserts it downwards into the green block."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted in the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 256, "end_step": 417, "id": "e7e167ab-232f-41c0-98ee-f38e445f7a27"}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and fits it downward onto the peg."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate_release: Right hand inserts the white hollow hexagonal block onto the leftmost vertical peg of the pegboard and releases the block."}, {"label": "goal", "start_step": 418, "end_step": 531, "id": "dd652858-7ff0-40a8-a2e1-1145c4ef6a39"}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the upper-left area of the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 532, "end_step": 687, "id": "19866782-09b3-4271-a311-047877be65f8"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple peg on the wooden base by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost front purple peg of the wooden base."}, {"label": "goal", "start_step": 688, "end_step": 858, "id": "b30dafdf-f904-45d6-81c9-071660dd04ce"}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost front purple peg, fingers open and lift slightly."}, {"label": "subtasks", "start_step": 712, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the table surface, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left side of the table surface without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: lift: Right hand lifts the white perforated hexagonal block from the black table surface."}, {"label": "goal", "start_step": 859, "end_step": 1179, "id": "8f0e92d7-0cbf-48ab-9b6f-131ab3054869"}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: transport: Right hand transports the white perforated hexagonal block upward and toward the wooden pegboard with purple vertical posts."}, {"label": "subtasks", "start_step": 900, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand mates the white perforated hexagonal block onto the leftmost purple post of the pegboard by moving downward to fit the block onto the post."}, {"label": "subtasks", "start_step": 975, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the white perforated hexagonal block on the leftmost purple post of the pegboard without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: release: Right hand releases the white perforated hexagonal block by opening its fingers and separating from the block."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00028", "text": "Left hand: retreat: Left hand moves upward away from the white block on the leftmost purple peg. | Right hand: reach: Right hand moves down and left toward the white hexagonal block on the table above the green cubic block."}, {"label": "goal", "start_step": 1180, "end_step": 1308, "id": "55da6c89-f06f-4eaa-96ca-f871c05632ce"}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves down and left toward the white hexagonal block on the table above the green cubic block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1309, "end_step": 1473, "id": "a4d9cf26-b01a-418b-8041-b80ec7139d90"}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts and moves the white hexagonal block upward from the top of the middle green cube to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand mates the white hexagonal block with the middle purple peg by aligning its hole with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: press_release: Right hand presses the white hexagonal block down along the middle purple peg to the bottom and opens its fingers to release the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downward from the upper pegboard area toward the green cubic block on the table."}, {"label": "goal", "start_step": 1474, "end_step": 1575, "id": "0a5e1b45-b1f1-464d-8a43-301dc65c914f"}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip while the block stays on the table surface."}, {"label": "goal", "start_step": 1576, "end_step": 1743, "id": "f1979caf-72a8-4b94-b82f-0e79dba98f1e"}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward and backward to the position above the target peg on the rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and moves it downward to fit the block onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the rack without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: release: Right hand releases the green block on the upper block set, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1744, "end_step": 1857, "id": "b36ef223-9283-4499-ab38-80f6531b985f"}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the workbench surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the workbench, with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the white hexagonal block on the workbench without moving."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1858, "end_step": 1998, "id": "7de88c21-77ad-41c5-a663-0ae913c72023"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and leftward toward the wooden rack with stacked blocks."}, {"label": "subtasks", "start_step": 1898, "end_step": 1987, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the corresponding peg of the wooden rack, lowering and adjusting the object to fit onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: release: Right hand releases the white cylindrical object, opening fingers to separate from the object."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: place_release: Right hand places the white block on the top of the rightmost column, then releases the block and lifts its fingers away."}, {"label": "goal", "start_step": 1999, "end_step": 2190, "id": "3287475f-18d3-4ecf-95c7-fc29f9d0ed02"}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2122, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "goal", "start_step": 2191, "end_step": 2379, "id": "998addd0-7038-4bea-9fbc-7aedb436b0ed"}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position right above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2369, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it slowly along the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downward and rightward from the position near the stacked blocks on the wooden base toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 2380, "end_step": 2475, "id": "0fd53eb6-614f-45f7-b54f-453648b3b8c3"}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift: Right hand lifts the white cube from the black table surface upward."}, {"label": "goal", "start_step": 2476, "end_step": 2664, "id": "c538d143-eab1-4c51-a4e1-fbcec26aaf15"}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: transport: Right hand transports the white cube upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand mates the white cube with the purple rod by aligning the cube's hole with the rod and inserting the rod into the hole, moving downward until the cube touches the white base."}, {"label": "subtasks", "start_step": 2580, "end_step": 2654, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: press: Right hand presses the white cube downward along the purple rod to press it firmly onto the white base."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: release: Right hand releases the white cube by opening its fingers, separating from the cube."}, {"label": "goal", "start_step": 2665, "end_step": 2766, "id": "84b12660-0623-49c5-bd1f-57c9a8ca87eb"}, {"label": "subtasks", "start_step": 2670, "end_step": 2677, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: press: Right hand presses the purple cylindrical object into the top of the front-right white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2678, "end_step": 2714, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downwards towards the green cube on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 2715, "end_step": 2737, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 2738, "end_step": 2759, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2760, "end_step": 2781, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 2767, "end_step": 2919, "id": "4eadf237-0fe4-467c-8d62-d8956db9a377"}, {"label": "subtasks", "start_step": 2782, "end_step": 2819, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts the green block off the dark table surface and transports it upward and leftward toward the bottle rack with white bottles."}, {"label": "subtasks", "start_step": 2820, "end_step": 2894, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand aligns the green block with the purple rod on the rightmost white bottle of the bottle rack for assembly."}, {"label": "subtasks", "start_step": 2895, "end_step": 2924, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: place_release: Right hand places the green block onto the white bottle with a purple rod and releases its grip on the block."}, {"label": "home", "start_step": 2955, "end_step": 2985, "id": "w3RtKtzePdFWU_lDeb-Ak"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:reposition: Left hand moves upward from the lower left area to the upper left side of the workspace. | Right hand: reach: Right hand moves leftward and upward from the right side of the workspace to approach the white hexagonal block on top of the leftmost purple rod."}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: reach: Right hand moves leftward and upward from the right side of the workspace to approach the white hexagonal block on top of the leftmost purple rod."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on top of the leftmost purple rod."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, separating it from the leftmost purple rod."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves leftward and downward to above the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 142, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the hole of the green hexagonal block and inserts it downwards into the green block."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted in the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and fits it downward onto the peg."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate_release: Right hand inserts the white hollow hexagonal block onto the leftmost vertical peg of the pegboard and releases the block."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the upper-left area of the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple peg on the wooden base by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost front purple peg, fingers open and lift slightly."}, {"label": "subtasks", "start_step": 712, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the table surface, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left side of the table surface without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: lift: Right hand lifts the white perforated hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: transport: Right hand transports the white perforated hexagonal block upward and toward the wooden pegboard with purple vertical posts."}, {"label": "subtasks", "start_step": 900, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand mates the white perforated hexagonal block onto the leftmost purple post of the pegboard by moving downward to fit the block onto the post."}, {"label": "subtasks", "start_step": 975, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the white perforated hexagonal block on the leftmost purple post of the pegboard without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: release: Right hand releases the white perforated hexagonal block by opening its fingers and separating from the block."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00028", "text": "Left hand: retreat: Left hand moves upward away from the white block on the leftmost purple peg. | Right hand: reach: Right hand moves down and left toward the white hexagonal block on the table above the green cubic block."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves down and left toward the white hexagonal block on the table above the green cubic block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts and moves the white hexagonal block upward from the top of the middle green cube to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand mates the white hexagonal block with the middle purple peg by aligning its hole with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: press_release: Right hand presses the white hexagonal block down along the middle purple peg to the bottom and opens its fingers to release the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downward from the upper pegboard area toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward and backward to the position above the target peg on the rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and moves it downward to fit the block onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the rack without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: release: Right hand releases the green block on the upper block set, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the workbench surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the workbench, with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the white hexagonal block on the workbench without moving."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and leftward toward the wooden rack with stacked blocks."}, {"label": "subtasks", "start_step": 1898, "end_step": 1987, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the corresponding peg of the wooden rack, lowering and adjusting the object to fit onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: release: Right hand releases the white cylindrical object, opening fingers to separate from the object."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: place_release: Right hand places the white block on the top of the rightmost column, then releases the block and lifts its fingers away."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2122, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position right above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2369, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it slowly along the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downward and rightward from the position near the stacked blocks on the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift: Right hand lifts the white cube from the black table surface upward."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: transport: Right hand transports the white cube upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand mates the white cube with the purple rod by aligning the cube's hole with the rod and inserting the rod into the hole, moving downward until the cube touches the white base."}, {"label": "subtasks", "start_step": 2580, "end_step": 2654, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: press: Right hand presses the white cube downward along the purple rod to press it firmly onto the white base."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: release: Right hand releases the white cube by opening its fingers, separating from the cube."}, {"label": "subtasks", "start_step": 2670, "end_step": 2677, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: press: Right hand presses the purple cylindrical object into the top of the front-right white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2678, "end_step": 2714, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downwards towards the green cube on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 2715, "end_step": 2737, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 2738, "end_step": 2759, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2760, "end_step": 2781, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2782, "end_step": 2819, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts the green block off the dark table surface and transports it upward and leftward toward the bottle rack with white bottles."}, {"label": "subtasks", "start_step": 2820, "end_step": 2894, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand aligns the green block with the purple rod on the rightmost white bottle of the bottle rack for assembly."}, {"label": "subtasks", "start_step": 2895, "end_step": 2924, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: place_release: Right hand places the green block onto the white bottle with a purple rod and releases its grip on the block."}], "episode_index": 23}
+{"source_uid": "178f5815b324eea7", "num_frames": 2856, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block at the front left of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 210, "id": "e208d17b-551a-4bbe-b561-2b1498c146be"}, {"label": "valid", "start_step": 0, "end_step": 2825, "id": "_1DhBSiwTFNlmlrhLmZq8"}, {"label": "subtasks", "start_step": 82, "end_step": 231, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to contact and adjusts grip on the green cubic block on the black tabletop."}, {"label": "goal", "start_step": 211, "end_step": 402, "id": "f13e76e9-da14-4dda-b9d5-97f7f8521949"}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block from the tabletop and transports it above the leftmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 434, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the leftmost purple post and fits it down onto the post to complete assembly."}, {"label": "goal", "start_step": 403, "end_step": 522, "id": "acadc6c5-4947-4c79-aaf6-bf680de43ddb"}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 458, "end_step": 539, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing and adjusting."}, {"label": "goal", "start_step": 523, "end_step": 780, "id": "3a8e6dc0-1e3a-4b26-bdd2-ffa0e082acc5"}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 779, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and lowers it to mate the block onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the leftmost purple peg."}, {"label": "goal", "start_step": 781, "end_step": 909, "id": "6a2c3298-4539-4e82-b95a-d79914b64b9f"}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the left of the desktop."}, {"label": "subtasks", "start_step": 840, "end_step": 921, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the left white hexagonal block on the desktop, adjusting the grip."}, {"label": "goal", "start_step": 910, "end_step": 1065, "id": "10eb4d1d-57b2-4e41-8768-e0520f60244f"}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it to the position above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the target purple rod."}, {"label": "subtasks", "start_step": 975, "end_step": 1049, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it is fully fitted."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden peg base."}, {"label": "goal", "start_step": 1066, "end_step": 1179, "id": "214c2ca7-5f02-49d4-a52a-e8543f9c277f"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without observable movement."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1180, "end_step": 1335, "id": "d8aa5212-d0a8-4eb0-826a-bc90ab22c497"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple pillar by aligning its central hole to the pillar."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down onto the purple pillar until it is stably supported."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and separates from the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the post of the wooden base."}, {"label": "goal", "start_step": 1336, "end_step": 1446, "id": "7fb1b8cc-5a3d-455a-bd74-1768ae4c2da8"}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1461, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table surface."}, {"label": "goal", "start_step": 1447, "end_step": 1611, "id": "3bfb189d-4ab6-4fda-90d4-18e890de7e0e"}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1634, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it down onto the peg to complete assembly."}, {"label": "goal", "start_step": 1612, "end_step": 1731, "id": "dd2d297d-0782-4ac9-9684-7c92a6c445eb"}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow cylindrical block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1672, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hollow cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 1732, "end_step": 1899, "id": "5533054c-e363-430b-aa26-2915ed62341b"}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the target post on the wooden base and inserts it onto the post."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses down on the white cylindrical block to fix it onto the post."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the post of the wooden base without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the peg on the wooden base."}, {"label": "goal", "start_step": 1900, "end_step": 2001, "id": "6eec9056-d66a-4dd6-a0af-7af1c0f8f609"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the upper white hexagonal block on the right side of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 2017, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "goal", "start_step": 2002, "end_step": 2136, "id": "15c606a6-5d8e-4deb-bbe6-d225f6e9f45d"}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder off the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylinder onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2130, "end_step": 2137, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder fitted on the purple rod."}, {"label": "goal", "start_step": 2137, "end_step": 2232, "id": "a72ec5ae-3962-4a0c-be23-8acc7a1ed314"}, {"label": "subtasks", "start_step": 2138, "end_step": 2151, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2190, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2233, "end_step": 2358, "id": "7f16f90f-28ea-4fba-a3f5-009542e6d1c9"}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden rack with stacked blocks."}, {"label": "subtasks", "start_step": 2288, "end_step": 2347, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the white cylindrical block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2354, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block after it is properly fitted on the purple rod."}, {"label": "subtasks", "start_step": 2355, "end_step": 2421, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block placed on the dark table surface."}, {"label": "goal", "start_step": 2359, "end_step": 2463, "id": "0858c3fd-e212-401d-8bde-70819b74900f"}, {"label": "subtasks", "start_step": 2422, "end_step": 2489, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the dark table surface."}, {"label": "goal", "start_step": 2464, "end_step": 2781, "id": "f4fedaff-6d3d-485f-8d7b-0bda6a7ff1a5"}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2528, "end_step": 2557, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2789, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the top of the white bottle to fix it in place."}, {"label": "home", "start_step": 2826, "end_step": 2855, "id": "8x6v57lp-tzPvwWJ-sLo3"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block at the front left of the wooden peg base."}, {"label": "subtasks", "start_step": 82, "end_step": 231, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to contact and adjusts grip on the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block from the tabletop and transports it above the leftmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 434, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the leftmost purple post and fits it down onto the post to complete assembly."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 458, "end_step": 539, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 779, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and lowers it to mate the block onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the leftmost purple peg."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the left of the desktop."}, {"label": "subtasks", "start_step": 840, "end_step": 921, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the left white hexagonal block on the desktop, adjusting the grip."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it to the position above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the target purple rod."}, {"label": "subtasks", "start_step": 975, "end_step": 1049, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it is fully fitted."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without observable movement."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple pillar by aligning its central hole to the pillar."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down onto the purple pillar until it is stably supported."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and separates from the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the post of the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1461, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1634, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow cylindrical block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1672, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hollow cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the target post on the wooden base and inserts it onto the post."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses down on the white cylindrical block to fix it onto the post."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the post of the wooden base without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the peg on the wooden base."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the upper white hexagonal block on the right side of the table."}, {"label": "subtasks", "start_step": 1965, "end_step": 2017, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder off the tabletop and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylinder onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2130, "end_step": 2137, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder fitted on the purple rod."}, {"label": "subtasks", "start_step": 2138, "end_step": 2151, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2190, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden rack with stacked blocks."}, {"label": "subtasks", "start_step": 2288, "end_step": 2347, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the white cylindrical block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2348, "end_step": 2354, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block after it is properly fitted on the purple rod."}, {"label": "subtasks", "start_step": 2355, "end_step": 2421, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2489, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 2505, "end_step": 2527, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2528, "end_step": 2557, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2789, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the top of the white bottle to fix it in place."}], "episode_index": 24}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v3.0/meta/annotations.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v3.0/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..98cc4a165c65172b64f1c1cca040e8a2f9510557
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v3.0/meta/annotations.jsonl
@@ -0,0 +1,25 @@
+{"source_uid": "a3d408defa0e325d", "num_frames": 3599, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: retreat: Left hand moves upward away from the tabletop operation area with empty hand. | Right hand: reach: Right hand moves forward towards the white hexagonal block on the purple rod of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 266, "id": "1bf45902-7841-4d06-abcf-605e99fa3362"}, {"label": "valid", "start_step": 0, "end_step": 3567, "id": "ZqkAZV6Erqgb9L4UP1yeP"}, {"label": "subtasks", "start_step": 60, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves forward towards the white hexagonal block on the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand contacts the white hexagonal block, fingers close to establish initial grasp."}, {"label": "subtasks", "start_step": 112, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift: Right hand pulls the grasped white hexagonal block upward to remove it from the purple rod."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand grasps the green cube on the black table, with 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"reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 948, "end_step": 1106, "id": "f433704b-c6c7-4b55-a871-6767cca13fbe"}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden rack and inserts it onto the 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"start_step": 1257, "end_step": 1538, "id": "8abc66df-da55-43fa-8a95-db2f907009d5"}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: transport: Right hand transports the white cylindrical block above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1529, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand aligns and inserts the white cylindrical block onto the purple vertical post to complete the assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "goal", "start_step": 1539, "end_step": 1676, "id": "8e09e279-1d8a-4029-a6ae-44b62e966264"}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand adjusts its grasp on the 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frame. | Right hand: hold: Right hand holds the green cube on the peg of the wooden tray without moving."}, {"label": "subtasks", "start_step": 1980, "end_step": 2047, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downward from the wooden block base to approach the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1980, "end_step": 2129, "id": "ac67e2c4-5116-4a0d-8cd3-0570f1317c8c"}, {"label": "subtasks", "start_step": 2048, "end_step": 2129, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "goal", "start_step": 2130, "end_step": 2309, "id": "aecc0098-1e13-4271-a08c-006720a3c36f"}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand aligns the white cylindrical block with the protruding rod on the green block of the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2309, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: press: Right hand presses the white cylindrical block downwards along the rod to fit it onto the green block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2369, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table to the right of the stacked blocks."}, {"label": "goal", "start_step": 2310, "end_step": 2468, "id": "25c7fe5a-cd02-465a-a7a8-b4d755d962e2"}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand contacts the white cylindrical block on the table, fingers close to adjust the grip on the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "goal", "start_step": 2469, "end_step": 2873, "id": "a3488053-1400-43f5-a38e-69ae8df50368"}, {"label": "subtasks", "start_step": 2498, "end_step": 2541, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: transport: Right hand transports the white block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2542, "end_step": 2849, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand mates the white block onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2850, "end_step": 2864, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: release: Right hand releases the white block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 2865, "end_step": 2879, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: retreat: Right hand retreats away from the purple rod on the wooden base."}, {"label": "goal", "start_step": 2874, "end_step": 3002, "id": "1ee83659-fa09-418d-8b22-e2d0f83e5e85"}, {"label": "subtasks", "start_step": 2880, "end_step": 2917, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2918, "end_step": 3029, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 3003, "end_step": 3230, "id": "4e63fdb9-e045-4199-b6f6-ba68c2c9252c"}, {"label": "subtasks", "start_step": 3030, "end_step": 3059, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 3060, "end_step": 3104, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: place: Right hand lowers the white cylindrical block to place it onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 3105, "end_step": 3217, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: press: Right hand presses the white cylindrical block down onto the peg to secure it in position."}, {"label": "subtasks", "start_step": 3218, "end_step": 3224, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the rack."}, {"label": "subtasks", "start_step": 3225, "end_step": 3284, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downwards towards the green cube on the table."}, {"label": 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"fc921c24-e896-490f-b598-cd1ca3e243e4"}, {"label": "subtasks", "start_step": 3398, "end_step": 3427, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: transport: Right hand transports the green ring above the wooden tray with stacked cylinders."}, {"label": "subtasks", "start_step": 3428, "end_step": 3524, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand mates the green ring onto the white cylinder with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 3525, "end_step": 3539, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: release: Right hand releases the green ring and separates from it."}, {"label": "home", "start_step": 3568, "end_step": 3598, "id": "yEVkBYUnVDRBrwcGLpjpo"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: retreat: Left hand moves upward away from the tabletop operation area with empty hand. | Right hand: reach: Right hand moves forward towards the white hexagonal block on the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 60, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves forward towards the white hexagonal block on the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand contacts the white hexagonal block, fingers close to establish initial grasp."}, {"label": "subtasks", "start_step": 112, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift: Right hand pulls the grasped white hexagonal block upward to remove it from the purple rod."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand grasps the green cube on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 292, "end_step": 351, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the green cube off the table, then transports it upward to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 352, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand mates the green cube onto the purple peg by aligning the cube's hole with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: release: Right hand releases the green cube by opening fingers and separating from the cube."}, {"label": "subtasks", "start_step": 450, "end_step": 487, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand mates the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves down towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 548, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal block on the black tabletop to form a stable grasp."}, {"label": "subtasks", "start_step": 660, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg for assembly."}, {"label": "subtasks", "start_step": 780, "end_step": 861, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 862, "end_step": 967, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1244, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand grasps and adjusts its grip on the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: transport: Right hand transports the white cylindrical block above the purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1529, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand aligns and inserts the white cylindrical block onto the purple vertical post to complete the assembly."}, {"label": "subtasks", "start_step": 1530, "end_step": 1589, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand adjusts its grasp on the green cube on the black tabletop."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the green cube from the tabletop and transports it to the top of the target peg on the wooden tray."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: place: Right hand places the green cube onto the target peg on the wooden tray until it is supported by the peg."}, {"label": "subtasks", "start_step": 1755, "end_step": 1979, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: hold: Right hand holds the green cube on the peg of the wooden tray without moving."}, {"label": "subtasks", "start_step": 1980, "end_step": 2047, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downward from the wooden block base to approach the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2129, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black tabletop."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand aligns the white cylindrical block with the protruding rod on the green block of the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2309, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: press: Right hand presses the white cylindrical block downwards along the rod to fit it onto the green block."}, {"label": "subtasks", "start_step": 2310, "end_step": 2369, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table to the right of the stacked blocks."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand contacts the white cylindrical block on the table, fingers close to adjust the grip on the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "subtasks", "start_step": 2498, "end_step": 2541, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: transport: Right hand transports the white block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2542, "end_step": 2849, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand mates the white block onto the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2850, "end_step": 2864, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: release: Right hand releases the white block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 2865, "end_step": 2879, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: retreat: Right hand retreats away from the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2880, "end_step": 2917, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2918, "end_step": 3029, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 3030, "end_step": 3059, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 3060, "end_step": 3104, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: place: Right hand lowers the white cylindrical block to place it onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 3105, "end_step": 3217, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: press: Right hand presses the white cylindrical block down onto the peg to secure it in position."}, {"label": "subtasks", "start_step": 3218, "end_step": 3224, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the rack."}, {"label": "subtasks", "start_step": 3225, "end_step": 3284, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: reach: Right hand moves downwards towards the green cube on the table."}, {"label": "subtasks", "start_step": 3285, "end_step": 3314, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 3315, "end_step": 3374, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 3375, "end_step": 3397, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: lift: Right hand lifts the green ring off the black table surface."}, {"label": "subtasks", "start_step": 3398, "end_step": 3427, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: transport: Right hand transports the green ring above the wooden tray with stacked cylinders."}, {"label": "subtasks", "start_step": 3428, "end_step": 3524, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: mate: Right hand mates the green ring onto the white cylinder with purple top on the wooden tray."}, {"label": "subtasks", "start_step": 3525, "end_step": 3539, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left upper side of the frame. | Right hand: release: Right hand releases the green ring and separates from it."}], "episode_index": 0}
+{"source_uid": "a239c8ffbf672b92", "num_frames": 3518, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from its initial outer-left position forward to the home position in front of the body, remaining empty. | Right hand: reach: Right hand moves from its initial outer-right position toward the green hexagonal block placed front-left of the wooden peg assembly on the black table surface, staying empty."}, {"label": "goal", "start_step": 0, "end_step": 270, "id": "1fb4c3f8-c383-47af-abca-1dc93a5000e4"}, {"label": "valid", "start_step": 0, "end_step": 3483, "id": "BwPcLSts_n1poITFUf-sC"}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves from its initial outer-right position toward the green hexagonal block placed front-left of the wooden peg assembly on the black table surface, staying empty."}, {"label": "subtasks", "start_step": 112, "end_step": 269, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making fine continuous adjustments to finger placement and wrist angle to form a stable grip, with the block remaining supported by the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand holds the green hexagonal block and lifts it vertically upward to completely separate it from the black work surface."}, {"label": "goal", "start_step": 271, "end_step": 444, "id": "401085ad-3380-4757-a60f-c19a880262b9"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block upward to position it directly above the leftmost purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without visible movement of the hand or block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns and fits the green hexagonal block onto the purple rod on the wooden base to complete the block assembly."}, {"label": "goal", "start_step": 445, "end_step": 741, "id": "bb3e70c5-564e-41c7-a2f2-a9baa7292723"}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small grip adjustments to secure the block."}, {"label": "subtasks", "start_step": 562, "end_step": 734, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to securely grasp the white hexagonal block resting on the black table surface."}, {"label": "goal", "start_step": 742, "end_step": 906, "id": "d84d8a1e-4e59-4d08-8a5e-11794dcbe956"}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward to fully separate it from the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and horizontally to position it directly above the purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it vertically to fit the block onto the peg until it rests on the green block below."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press_release: Right hand presses down on the white cylindrical block on the leftmost purple peg to seat it fully, releasing contact with the seated block."}, {"label": "goal", "start_step": 907, "end_step": 1092, "id": "f7347ef6-4cc3-47aa-8d36-2044c870c7ef"}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the peg board area toward the white hexagonal nut resting on the black table surface, making no contact with other objects during movement."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the nearby white hexagonal nut on the table surface, making small finger adjustments to establish a grip."}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand maintains a stable grip on the white hexagonal nut on the black table surface without visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grip on the white hexagonal block placed on the black table surface."}, {"label": "goal", "start_step": 1093, "end_step": 1254, "id": "04659222-da54-4c40-a371-08baf9f613dc"}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the black table surface and moves it upward to position it above the target purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple rod, then slides the block down the rod to seat it on the existing stack."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod of the wooden assembly without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to close around and form a stable grasp on a white hexagonal object mounted on the wooden assembly base."}, {"label": "goal", "start_step": 1255, "end_step": 1398, "id": "8cfc0953-4731-4228-adb9-6b1266ce544a"}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal object off the wooden assembly base and moves it downward toward the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the white hexagonal object until it is fully supported by the black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal object steadily against the black table surface with no observable movement of the hand or the object."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to securely grasp the white hexagonal nut resting on the table adjacent to the wooden base."}, {"label": "goal", "start_step": 1399, "end_step": 1548, "id": "5a4fa282-378a-4cec-a789-ea02f8ae18cc"}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, makes small positional adjustments, and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the purple peg of the wooden pegboard."}, {"label": "goal", "start_step": 1549, "end_step": 1656, "id": "d27a9fd7-c429-4f35-959e-749eaa156e50"}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward with empty fingers to approach the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the black table surface, making small adjustments to form a stable grip."}, {"label": "goal", "start_step": 1657, "end_step": 1818, "id": "792293ed-b1ac-4c6f-b9f3-a788ae5aa8dd"}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the dark table surface, then transports the block upward and toward the purple rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden base, then moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden block assembly area toward the white hexagonal block on the dark table surface with an open hand."}, {"label": "goal", "start_step": 1819, "end_step": 1989, "id": "424d0713-be6d-4d60-92de-3ae81dc0a2ba"}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to adjust and form a stable grasp."}, {"label": "subtasks", "start_step": 1920, "end_step": 1979, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table surface without any visible movement."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1990, "end_step": 2247, "id": "c7c2aa7c-60d1-4f29-9379-e86452662260"}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then moves it upward and forward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2099, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the assembly base, makes slight rotational and positional adjustments, and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 2100, "end_step": 2234, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without obvious movement."}, {"label": "subtasks", "start_step": 2235, "end_step": 2279, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press_release: Right hand presses the white hexagonal block on the purple vertical rod downwards to secure it to the stacked assembly on the wooden base, opening fingers to release the block."}, {"label": "goal", "start_step": 2248, "end_step": 2379, "id": "6f7d2856-b2d0-416c-95f4-ca9985117b58"}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downwards and rightwards toward the white hexagonal nut placed on the black table surface near the wooden base, approaching the target without contact."}, {"label": "subtasks", "start_step": 2310, "end_step": 2399, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers closing around the nut with small continuous adjustments to establish a stable grip."}, {"label": "goal", "start_step": 2380, "end_step": 2775, "id": "fccb0150-af07-40b0-aa7c-8fdc4356ca99"}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface, moving it upward and horizontally to position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2430, "end_step": 2684, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 2685, "end_step": 2797, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasped white hexagonal block fitted onto the purple vertical rod."}, {"label": "goal", "start_step": 2776, "end_step": 2913, "id": "9735665a-2ef5-4b18-959f-b5da3b3eeb4f"}, {"label": "subtasks", "start_step": 2798, "end_step": 2827, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downwards toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2828, "end_step": 2857, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2858, "end_step": 2909, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the gripped white hexagonal block steadily without observable displacement or posture change."}, {"label": "subtasks", "start_step": 2910, "end_step": 2939, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the small white cylinder resting on the dark table surface."}, {"label": "goal", "start_step": 2914, "end_step": 3066, "id": "c178bf2d-d364-42f7-8a68-84f2d1f0cb59"}, {"label": "subtasks", "start_step": 2940, "end_step": 2961, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped small white cylinder off the table surface and transports it upward to the position directly above the vertical purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 2962, "end_step": 3059, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the hollow center of the small white cylinder with the purple rod, moves the cylinder downward along the rod, and makes small positional adjustments to seat the cylinder onto the rod."}, {"label": "subtasks", "start_step": 3060, "end_step": 3127, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward to approach the green cube on the dark table surface."}, {"label": "goal", "start_step": 3067, "end_step": 3183, "id": "d58d1884-2b4a-458e-a9a0-7d7a5ba35c37"}, {"label": "subtasks", "start_step": 3128, "end_step": 3209, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green cube to form a grasp, with the cube remaining on the table surface."}, {"label": "goal", "start_step": 3184, "end_step": 3456, "id": "a6bf190c-68f2-45f5-99c9-6ed88377562c"}, {"label": "subtasks", "start_step": 3210, "end_step": 3239, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward to the position directly above the target white cylindrical post on the wooden rack."}, {"label": "subtasks", "start_step": 3240, "end_step": 3277, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green block with the target white cylindrical post and lowers the block to fit it onto the post, establishing the assembly relationship."}, {"label": "subtasks", "start_step": 3278, "end_step": 3449, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green block fitted on the cylindrical post without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 3450, "end_step": 3464, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens its fingers to release the grip on the green block, separating the fingers from the block surface."}, {"label": "home", "start_step": 3484, "end_step": 3517, "id": "GjYWEBTCfF-cvz7WlC4IF"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from its initial outer-left position forward to the home position in front of the body, remaining empty. | Right hand: reach: Right hand moves from its initial outer-right position toward the green hexagonal block placed front-left of the wooden peg assembly on the black table surface, staying empty."}, {"label": "subtasks", "start_step": 60, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves from its initial outer-right position toward the green hexagonal block placed front-left of the wooden peg assembly on the black table surface, staying empty."}, {"label": "subtasks", "start_step": 112, "end_step": 269, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making fine continuous adjustments to finger placement and wrist angle to form a stable grip, with the block remaining supported by the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand holds the green hexagonal block and lifts it vertically upward to completely separate it from the black work surface."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block upward to position it directly above the leftmost purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and lowers it to fit the block onto the peg."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without visible movement of the hand or block."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns and fits the green hexagonal block onto the purple rod on the wooden base to complete the block assembly."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward from the wooden base toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making small grip adjustments to secure the block."}, {"label": "subtasks", "start_step": 562, "end_step": 734, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily with no visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to securely grasp the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward to fully separate it from the table surface."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block upward and horizontally to position it directly above the purple peg on the wooden assembly board."}, {"label": "subtasks", "start_step": 818, "end_step": 884, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it vertically to fit the block onto the peg until it rests on the green block below."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press_release: Right hand presses down on the white cylindrical block on the leftmost purple peg to seat it fully, releasing contact with the seated block."}, {"label": "subtasks", "start_step": 938, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the peg board area toward the white hexagonal nut resting on the black table surface, making no contact with other objects during movement."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the nearby white hexagonal nut on the table surface, making small finger adjustments to establish a grip."}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand maintains a stable grip on the white hexagonal nut on the black table surface without visible movement of the hand or nut."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to secure a stable grip on the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the black table surface and moves it upward to position it above the target purple rod on the wooden peg assembly."}, {"label": "subtasks", "start_step": 1155, "end_step": 1229, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple rod, then slides the block down the rod to seat it on the existing stack."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the seated white hexagonal block on the purple rod of the wooden assembly without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1289, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to close around and form a stable grasp on a white hexagonal object mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal object off the wooden assembly base and moves it downward toward the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the white hexagonal object until it is fully supported by the black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1394, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal object steadily against the black table surface with no observable movement of the hand or the object."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts its fingers to securely grasp the white hexagonal nut resting on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg, makes small positional adjustments, and lowers the nut to fit it onto the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block placed on the purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward with empty fingers to approach the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the black table surface, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the dark table surface, then transports the block upward and toward the purple rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1814, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod on the wooden base, then moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the wooden block assembly area toward the white hexagonal block on the dark table surface with an open hand."}, {"label": "subtasks", "start_step": 1875, "end_step": 1919, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to adjust and form a stable grasp."}, {"label": "subtasks", "start_step": 1920, "end_step": 1979, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the grasped white hexagonal block on the table surface without any visible movement."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, then moves it upward and forward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2099, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the assembly base, makes slight rotational and positional adjustments, and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 2100, "end_step": 2234, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without obvious movement."}, {"label": "subtasks", "start_step": 2235, "end_step": 2279, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press_release: Right hand presses the white hexagonal block on the purple vertical rod downwards to secure it to the stacked assembly on the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downwards and rightwards toward the white hexagonal nut placed on the black table surface near the wooden base, approaching the target without contact."}, {"label": "subtasks", "start_step": 2310, "end_step": 2399, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, fingers closing around the nut with small continuous adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface, moving it upward and horizontally to position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 2430, "end_step": 2684, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand makes small positional adjustments to align the central hole of the white hexagonal block with the purple vertical rod, lowering the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 2685, "end_step": 2797, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand gradually opens its fingers to release the grasped white hexagonal block fitted onto the purple vertical rod."}, {"label": "subtasks", "start_step": 2798, "end_step": 2827, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downwards toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2828, "end_step": 2857, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 2858, "end_step": 2909, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the gripped white hexagonal block steadily without observable displacement or posture change."}, {"label": "subtasks", "start_step": 2910, "end_step": 2939, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the small white cylinder resting on the dark table surface."}, {"label": "subtasks", "start_step": 2940, "end_step": 2961, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped small white cylinder off the table surface and transports it upward to the position directly above the vertical purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 2962, "end_step": 3059, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the hollow center of the small white cylinder with the purple rod, moves the cylinder downward along the rod, and makes small positional adjustments to seat the cylinder onto the rod."}, {"label": "subtasks", "start_step": 3060, "end_step": 3127, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward and rightward to approach the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 3128, "end_step": 3209, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the green cube to form a grasp, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 3210, "end_step": 3239, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward to the position directly above the target white cylindrical post on the wooden rack."}, {"label": "subtasks", "start_step": 3240, "end_step": 3277, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green block with the target white cylindrical post and lowers the block to fit it onto the post, establishing the assembly relationship."}, {"label": "subtasks", "start_step": 3278, "end_step": 3449, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green block fitted on the cylindrical post without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 3450, "end_step": 3464, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand opens its fingers to release the grip on the green block, separating the fingers from the block surface."}], "episode_index": 1}
+{"source_uid": "22f853ceaaf824eb", "num_frames": 3288, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:move_up: Left hand moves upward at the left side of the table, keeping empty. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left of the wooden base, remaining empty."}, {"label": "goal", "start_step": 0, "end_step": 234, "id": "103eaef6-309f-4a1c-9db0-a8f8dc9613bc"}, {"label": "valid", "start_step": 0, "end_step": 3251, "id": "61hGd1QwyjL-vO9oWQli7"}, {"label": "subtasks", "start_step": 38, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left of the wooden base, remaining empty."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand adjusts its grip on the green block on the left table surface, with fingers slightly moving to stabilize the grasp."}, {"label": "goal", "start_step": 235, "end_step": 441, "id": "1103f35c-3af4-4a3d-9a5e-7f2170a3e1f1"}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the leftmost peg of the wooden board."}, {"label": "subtasks", "start_step": 278, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the green block with the leftmost peg and inserts it downward until the block reaches the bottom of the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green block on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the green block by opening its fingers until the hand separates from the block."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: idle: Right hand remains empty above the leftmost green block without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: press_release: Right hand presses the green block down onto the leftmost purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 442, "end_step": 678, "id": "ce65e431-5c68-4916-bc41-4484f9cc0662"}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 548, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 679, "end_step": 831, "id": "81def4d7-d317-4cdc-aa85-ea3dd3f65e93"}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it upward to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it downward onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand mates the white cylindrical block onto the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 832, "end_step": 963, "id": "f2b338f8-431f-4501-abde-ae763f6f493c"}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand reaches toward the left white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 981, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 964, "end_step": 1158, "id": "842056c8-e3ac-4f78-8d9d-ec97461215e4"}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it upward and toward the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1117, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple peg by aligning the hole with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: transport: Right hand holds the white hollow cylinder and moves from the upper left area of the wooden base to the position above the right purple rod."}, {"label": "goal", "start_step": 1159, "end_step": 1311, "id": "26641733-2e1c-47b8-b226-2eec60885aa2"}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the white hollow cylinder with the right purple rod and inserts it downwards onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hollow cylinder on the right purple rod without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white cylindrical block on the table in front of the wooden board, with fingers closing around the block."}, {"label": "goal", "start_step": 1312, "end_step": 1494, "id": "5903f614-24e7-45d8-9ab5-a700a3cc0e31"}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it upward to the position above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the white cylindrical block on the right purple peg of the wooden base."}, {"label": "goal", "start_step": 1495, "end_step": 1605, "id": "d06d6cb8-d5f4-4d2c-87e6-46d9d545c635"}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves downward to approach the green cubic block on the work surface below the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the work surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green cubic block on the work surface without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1606, "end_step": 1758, "id": "4527a4bf-fbd0-4ab5-87fc-ea5ec1888850"}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it toward the wooden pegboard with vertical pegs."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the green cubic block with a peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green cubic block fitted on the wooden peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the purple block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1759, "end_step": 1872, "id": "6392e429-f15a-4666-a1e2-85b387fb20b1"}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white hexagonal cylinder on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1873, "end_step": 2085, "id": "21166526-cfc1-4339-a83d-7d288e96c9c1"}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift: Right hand lifts the white hexagonal cylinder upward off the black table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: transport: Right hand transports the white hexagonal cylinder upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand mates the white hexagonal cylinder with the purple peg by aligning the cylinder's hole with the peg and inserting it downward onto the peg."}, {"label": "subtasks", "start_step": 2002, "end_step": 2077, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the white hexagonal cylinder by opening fingers and separating from the cylinder."}, {"label": "goal", "start_step": 2086, "end_step": 2196, "id": "75432ae9-0f2a-4694-9ede-ec95c1e8b18e"}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand reaches toward the white cylinder on the table next to the wooden board, moving downward and leftward."}, {"label": "subtasks", "start_step": 2145, "end_step": 2189, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white cylinder on the table next to the wooden board, with fingers closing around the cylinder to adjust the grip."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white cylindrical block on the black table without moving."}, {"label": "goal", "start_step": 2197, "end_step": 2652, "id": "9da6225b-10e9-47e7-9489-1c0476c8e1c7"}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the black table and transports it upward and leftward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2287, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by aligning its central hole and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2288, "end_step": 2639, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base, fingers separate from the block."}, {"label": "goal", "start_step": 2653, "end_step": 2735, "id": "ac97acf0-95ca-41ee-8de3-a8ad18086777"}, {"label": "subtasks", "start_step": 2655, "end_step": 2691, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves down-right toward the white cylindrical block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 2692, "end_step": 2767, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface, fingers close and adjust to stabilize the grip."}, {"label": "goal", "start_step": 2736, "end_step": 2934, "id": "606aa226-22ac-471d-a0e8-6a35c10cc7ae"}, {"label": "subtasks", "start_step": 2768, "end_step": 2797, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white block off the table and moves it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2917, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the white block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the white block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2925, "end_step": 2977, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves downward and rightward from the area of the wooden rack with white cylinders toward the green cube on the table, approaching the target cube."}, {"label": "goal", "start_step": 2935, "end_step": 3045, "id": "d9c10faa-8f3e-4014-bbb5-3cf01972dcc8"}, {"label": "subtasks", "start_step": 2978, "end_step": 3007, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing around the cube to establish a stable grip."}, {"label": "subtasks", "start_step": 3008, "end_step": 3044, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 3045, "end_step": 3074, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand adjusts its grasp on the green cubic block resting on the black table surface."}, {"label": "goal", "start_step": 3046, "end_step": 3228, "id": "50efd2f3-3278-4910-ad30-cb9f2ca8c61e"}, {"label": "subtasks", "start_step": 3075, "end_step": 3104, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table surface and transports it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 3105, "end_step": 3157, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the green cubic block with the top of the white cylindrical post on the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 3158, "end_step": 3217, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green cubic block fitted on the white cylindrical post without moving."}, {"label": "subtasks", "start_step": 3218, "end_step": 3231, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases its grasp on the green cubic block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 3232, "end_step": 3239, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: retreat: Right hand moves upward and rightward away from the green cubic block on the post."}, {"label": "home", "start_step": 3252, "end_step": 3287, "id": "oiqhGBqyu_ICxo7SKzoJ3"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: other:move_up: Left hand moves upward at the left side of the table, keeping empty. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left of the wooden base, remaining empty."}, {"label": "subtasks", "start_step": 38, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left of the wooden base, remaining empty."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand adjusts its grip on the green block on the left table surface, with fingers slightly moving to stabilize the grasp."}, {"label": "subtasks", "start_step": 255, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to above the leftmost peg of the wooden board."}, {"label": "subtasks", "start_step": 278, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the green block with the leftmost peg and inserts it downward until the block reaches the bottom of the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green block on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the green block by opening its fingers until the hand separates from the block."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: idle: Right hand remains empty above the leftmost green block without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: press_release: Right hand presses the green block down onto the leftmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 548, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it upward to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and inserts it downward onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand mates the white cylindrical block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand reaches toward the left white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 892, "end_step": 981, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the table surface and transports it upward and toward the front-left purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1117, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand mates the white hexagonal piece onto the front-left purple peg by aligning the hole with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal piece fitted on the front-left purple peg without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: transport: Right hand holds the white hollow cylinder and moves from the upper left area of the wooden base to the position above the right purple rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1221, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the white hollow cylinder with the right purple rod and inserts it downwards onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1222, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hollow cylinder on the right purple rod without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white cylindrical block on the table in front of the wooden board, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1357, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it upward to the position above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1380, "end_step": 1484, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the white cylindrical block on the right purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves downward to approach the green cubic block on the work surface below the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the work surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green cubic block on the work surface without moving."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1649, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it toward the wooden pegboard with vertical pegs."}, {"label": "subtasks", "start_step": 1650, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the green cubic block with a peg on the wooden board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1754, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green cubic block fitted on the wooden peg without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the purple block on the middle peg of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white hexagonal cylinder on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift: Right hand lifts the white hexagonal cylinder upward off the black table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: transport: Right hand transports the white hexagonal cylinder upward and leftward toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1920, "end_step": 2001, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand mates the white hexagonal cylinder with the purple peg by aligning the cylinder's hole with the peg and inserting it downward onto the peg."}, {"label": "subtasks", "start_step": 2002, "end_step": 2077, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white hexagonal cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the white hexagonal cylinder by opening fingers and separating from the cylinder."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand reaches toward the white cylinder on the table next to the wooden board, moving downward and leftward."}, {"label": "subtasks", "start_step": 2145, "end_step": 2189, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white cylinder on the table next to the wooden board, with fingers closing around the cylinder to adjust the grip."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white cylindrical block on the black table without moving."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the black table and transports it upward and leftward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2287, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by aligning its central hole and lowering it onto the rod."}, {"label": "subtasks", "start_step": 2288, "end_step": 2639, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base, fingers separate from the block."}, {"label": "subtasks", "start_step": 2655, "end_step": 2691, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves down-right toward the white cylindrical block on the black table surface, approaching the target block."}, {"label": "subtasks", "start_step": 2692, "end_step": 2767, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface, fingers close and adjust to stabilize the grip."}, {"label": "subtasks", "start_step": 2768, "end_step": 2797, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the white block off the table and moves it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2917, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the white block with the purple rod and fits it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 2918, "end_step": 2924, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases the white block on the purple rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2925, "end_step": 2977, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: reach: Right hand moves downward and rightward from the area of the wooden rack with white cylinders toward the green cube on the table, approaching the target cube."}, {"label": "subtasks", "start_step": 2978, "end_step": 3007, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing around the cube to establish a stable grip."}, {"label": "subtasks", "start_step": 3008, "end_step": 3044, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 3045, "end_step": 3074, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: grasp: Right hand adjusts its grasp on the green cubic block resting on the black table surface."}, {"label": "subtasks", "start_step": 3075, "end_step": 3104, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: lift_transport: Right hand lifts the green cubic block off the black table surface and transports it upward and leftward to the position above the wooden rack."}, {"label": "subtasks", "start_step": 3105, "end_step": 3157, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: mate: Right hand aligns the green cubic block with the top of the white cylindrical post on the wooden rack and fits it onto the post."}, {"label": "subtasks", "start_step": 3158, "end_step": 3217, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: hold: Right hand holds the green cubic block fitted on the white cylindrical post without moving."}, {"label": "subtasks", "start_step": 3218, "end_step": 3231, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: release: Right hand releases its grasp on the green cubic block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 3232, "end_step": 3239, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and stationary at the upper left area of the table. | Right hand: retreat: Right hand moves upward and rightward away from the green cubic block on the post."}], "episode_index": 2}
+{"source_uid": "2613cd88ed58e494", "num_frames": 3259, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "goal", "start_step": 0, "end_step": 204, "id": "470c34e0-8075-480d-94a4-151314081686"}, {"label": "valid", "start_step": 0, "end_step": 3227, "id": "I1MMwJMFYobdJCqhedD83"}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green hollow block located in front of the wooden base on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the green hollow block, with slight adjustments to form a stable grip."}, {"label": "goal", "start_step": 205, "end_step": 600, "id": "24f33c52-df8b-488d-8e1b-1182cf293439"}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 330, "end_step": 517, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the leftmost purple rod to fix it in position."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper wooden base towards the white hexagonal object on the black table surface."}, {"label": "goal", "start_step": 601, "end_step": 774, "id": "ab6cfed2-c989-45ae-b861-29773225da24"}, {"label": "subtasks", "start_step": 638, "end_step": 787, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the white hexagonal object on the table."}, {"label": "goal", "start_step": 775, "end_step": 1023, "id": "7b736892-a68a-4e58-9913-cbf319526277"}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 959, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, inserting it down along the peg until it is placed stably."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the purple peg and the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area above the wooden base towards the white hexagonal block on the black table, without touching the block."}, {"label": "goal", "start_step": 1024, "end_step": 1128, "id": "cc935324-4b2f-4752-9ec5-8ae9b63a5a3e"}, {"label": "subtasks", "start_step": 1072, "end_step": 1147, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table, adjusting the grip to stabilize the block."}, {"label": "goal", "start_step": 1129, "end_step": 1293, "id": "8124f303-e9b5-4521-bb76-e230e8e46645"}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1274, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed in front of the wooden base."}, {"label": "goal", "start_step": 1294, "end_step": 1425, "id": "c86121e5-51c9-4e07-b0be-d6f24a036d7a"}, {"label": "subtasks", "start_step": 1335, "end_step": 1447, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white cylindrical block in front of the wooden base, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1426, "end_step": 1611, "id": "98b67699-bffa-4be6-83e2-6afed4bd4eae"}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward away from the black table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1604, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical post on the green base and moves it downward for assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block which is already fitted on the purple vertical post."}, {"label": "goal", "start_step": 1612, "end_step": 1728, "id": "9736ba31-ee08-46cb-8e2f-65d588f2deb5"}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cubic block on the black table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the black table without any movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, fingers adjust to form stable grip."}, {"label": "goal", "start_step": 1729, "end_step": 1941, "id": "5ac06dfa-40b7-44a3-9935-7ad92cb6bf83"}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it to the upper position of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1830, "end_step": 1934, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block, fingers open to detach from the block."}, {"label": "goal", "start_step": 1942, "end_step": 2067, "id": "35cfbba8-52ba-42e9-8fc1-2a56724bf593"}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2091, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 2068, "end_step": 2226, "id": "b1ba17c1-8348-4cc6-83d9-eca36ae280cf"}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object completely off the black tabletop."}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white cylindrical object above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2189, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical object and moves slightly upward."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block on the top of the stacked block set on the wooden base."}, {"label": "goal", "start_step": 2227, "end_step": 2328, "id": "6be22aa2-4d5b-460d-af7e-9c00f96fd3a9"}, {"label": "subtasks", "start_step": 2250, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "goal", "start_step": 2329, "end_step": 2619, "id": "2c3b2881-76dd-4664-b540-05db735733b0"}, {"label": "subtasks", "start_step": 2348, "end_step": 2361, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2399, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block upwards to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2400, "end_step": 2497, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2498, "end_step": 2639, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cylindrical block onto the purple rod until it is stably supported by the rod."}, {"label": "goal", "start_step": 2620, "end_step": 2742, "id": "c49d2bd0-309c-4e92-9fc9-3a81044a15c0"}, {"label": "subtasks", "start_step": 2640, "end_step": 2677, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the right area of the table."}, {"label": "subtasks", "start_step": 2678, "end_step": 2767, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "goal", "start_step": 2743, "end_step": 2931, "id": "31f5f2eb-3531-425f-b50d-29ff64ef20eb"}, {"label": "subtasks", "start_step": 2768, "end_step": 2804, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the black table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 2805, "end_step": 2954, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "goal", "start_step": 2932, "end_step": 3042, "id": "0dca82e2-5ab3-4315-a786-d049d4da81b0"}, {"label": "subtasks", "start_step": 2955, "end_step": 2984, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green square block placed on the tabletop."}, {"label": "subtasks", "start_step": 2985, "end_step": 3059, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the tabletop."}, {"label": "goal", "start_step": 3043, "end_step": 3201, "id": "30e0a112-bf87-4c76-9cb2-6d9857bb18f1"}, {"label": "subtasks", "start_step": 3060, "end_step": 3104, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the white tube with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 3105, "end_step": 3194, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white tube with purple cap and fits the block onto the tube."}, {"label": "subtasks", "start_step": 3195, "end_step": 3209, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block which is now fitted on the tube."}, {"label": "home", "start_step": 3228, "end_step": 3258, "id": "F_U69jiBkrLyD9sTmJoEn"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty at the right side of the table without moving."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green hollow block located in front of the wooden base on the table."}, {"label": "subtasks", "start_step": 120, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the green hollow block, with slight adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 278, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 330, "end_step": 517, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 518, "end_step": 577, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the leftmost purple rod to fix it in position."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 600, "end_step": 637, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper wooden base towards the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 787, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grasp on the white hexagonal object on the table."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the top of the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 959, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg, inserting it down along the peg until it is placed stably."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 982, "end_step": 1019, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the purple peg and the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1071, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area above the wooden base towards the white hexagonal block on the black table, without touching the block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1147, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1274, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed in front of the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1447, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white cylindrical block in front of the wooden base, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward away from the black table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1604, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical post on the green base and moves it downward for assembly."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block which is already fitted on the purple vertical post."}, {"label": "subtasks", "start_step": 1620, "end_step": 1664, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base area toward the green cubic block on the black table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cubic block on the black table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the black table without any movement."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the black table, fingers adjust to form stable grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1784, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it to the upper position of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1830, "end_step": 1934, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block, fingers open to detach from the block."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2091, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object completely off the black tabletop."}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white cylindrical object above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2189, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical object and moves slightly upward."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block on the top of the stacked block set on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 2348, "end_step": 2361, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2399, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block upwards to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2400, "end_step": 2497, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2498, "end_step": 2639, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cylindrical block onto the purple rod until it is stably supported by the rod."}, {"label": "subtasks", "start_step": 2640, "end_step": 2677, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the right area of the table."}, {"label": "subtasks", "start_step": 2678, "end_step": 2767, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2768, "end_step": 2804, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the black table and transports it towards the wooden rack."}, {"label": "subtasks", "start_step": 2805, "end_step": 2954, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2955, "end_step": 2984, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green square block placed on the tabletop."}, {"label": "subtasks", "start_step": 2985, "end_step": 3059, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the tabletop."}, {"label": "subtasks", "start_step": 3060, "end_step": 3104, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the white tube with purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 3105, "end_step": 3194, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white tube with purple cap and fits the block onto the tube."}, {"label": "subtasks", "start_step": 3195, "end_step": 3209, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block which is now fitted on the tube."}], "episode_index": 3}
+{"source_uid": "a3a86fbd99f0d347", "num_frames": 2592, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: idle: Right hand remains empty at the right side of the tabletop workspace without any visible movement or contact with objects."}, {"label": "goal", "start_step": 0, "end_step": 189, "id": "0ac4693d-19e2-40d5-b649-f03a1ac8c622"}, {"label": "valid", "start_step": 0, "end_step": 2560, "id": "acrG3Nn0fupVFlFu7urO9"}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves left and downward toward the small white rectangular object on the table in front of the wooden peg base, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand contacts the small white rectangular object, with fingers closing and making minor positional adjustments to establish a grasp while the object stays on the table surface."}, {"label": "goal", "start_step": 190, "end_step": 405, "id": "e6be2188-b33e-4cc3-9e5a-e81b522c48e3"}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, raising the block and the adjacent wooden base off the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the green hexagonal block upward and slightly horizontally to position the block directly above the leftmost purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post, lowering the block to fit it onto the post to establish an assembly fit."}, {"label": "subtasks", "start_step": 292, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple vertical post without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block, allowing the block to slide down the purple post to rest on the wooden base surface."}, {"label": "subtasks", "start_step": 405, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the front-left white hexagonal nut on the black table surface, approaching the target without contact."}, {"label": "goal", "start_step": 406, "end_step": 627, "id": "b8fef8a4-0478-45ae-863f-fc9c9c9a6985"}, {"label": "subtasks", "start_step": 465, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut, adjusting finger and wrist positions slightly to establish a stable grip."}, {"label": "subtasks", "start_step": 532, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the front-left white hexagonal nut on the black table surface steadily without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts its finger positions to establish a stable grip on the white hexagonal nut placed on the black work surface."}, {"label": "goal", "start_step": 628, "end_step": 768, "id": "da5b7761-8e91-4f0d-bf49-95186420e1dd"}, {"label": "subtasks", "start_step": 652, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the work surface and transports it upward to the position directly above the target purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 682, "end_step": 764, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg while making small positional adjustments to seat it correctly."}, {"label": "subtasks", "start_step": 765, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward empty from the area above the wooden assembly stand toward the left white hexagonal nut on the black work surface, approaching the target without making contact."}, {"label": "goal", "start_step": 769, "end_step": 887, "id": "ea9bb197-084f-45f9-9e7e-9ef13b41b097"}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the left white hexagonal nut on the work surface, adjusting finger positions and closing fingers to form a stable grasp on the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach_grasp: Right hand approaches the white hexagonal nut on the black table surface with open fingers and closes fingers to grasp the nut, which stays on the table during this period."}, {"label": "goal", "start_step": 888, "end_step": 1035, "id": "7a2622f1-9e15-4e55-b18c-51285b6f217d"}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it through the air to the position directly above the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the grasped white hexagonal nut with the purple rod on the wooden block, lowers the nut to fit onto the rod, and makes small adjustments to the wrist and fingers to seat the nut properly on the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed in front of the wooden assembly base."}, {"label": "goal", "start_step": 1036, "end_step": 1146, "id": "fce62547-2006-4b58-87f0-fe5383173630"}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface and lifts it upward off the table."}, {"label": "goal", "start_step": 1147, "end_step": 1278, "id": "16684dc6-2132-4b6d-b9c0-610b5cc211f5"}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block and moves it to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize the grasp on the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the area above the wooden peg base toward the green hexagonal block on the table, staying empty before making contact with the block."}, {"label": "goal", "start_step": 1279, "end_step": 1392, "id": "4b6b8e77-6789-47fe-908d-66148bd4ac1e"}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block on the table to establish a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the green hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1393, "end_step": 1530, "id": "c3393090-c8c9-4a36-a689-24517fbf4fb4"}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moves it upward to position directly above the purple vertical rod on the light wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, lowers the block along the rod to fit onto the underlying white block on the wooden base, opens fingers to release the block and separate from its surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp_release: Right hand closes fingers to grasp the white hexagonal piece on the wooden assembly base, opens fingers to release the piece and separate from it."}, {"label": "goal", "start_step": 1531, "end_step": 1629, "id": "2bf01830-2b35-4500-bc96-1c1faedf815e"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the front white hexagonal block placed on the black table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block on the table, slightly adjusting wrist and finger positions while closing fingers to form a grasp on the block."}, {"label": "goal", "start_step": 1630, "end_step": 1764, "id": "052590ac-4dc3-4b8d-905e-88aa79704aca"}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hollow cylinder upward until the cylinder is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hollow cylinder through the air toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple rod, moves the cylinder downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves empty from the upper area of the stacked cylindrical blocks downward and rightward toward the white hexagonal nut placed on the table adjacent to the wooden block tray."}, {"label": "goal", "start_step": 1765, "end_step": 1878, "id": "b112a2d6-a120-4477-b3f3-9a579d3424e4"}, {"label": "subtasks", "start_step": 1815, "end_step": 1897, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, closes fingers and makes slight adjustments to finger and wrist positions to establish a secure grasp on the nut."}, {"label": "goal", "start_step": 1879, "end_step": 2013, "id": "73a6037a-911e-4d13-82df-67441ac379ef"}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand moves vertically upward, lifting the grasped white hexagonal block completely clear of the dark table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden block assembly rack in the upper center of the workspace."}, {"label": "subtasks", "start_step": 1942, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal block with the vertical purple rod on the wooden rack, lowering the block slightly to fit it onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple rod, moving fingers slightly away from the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downwards toward the white hexagonal block placed on the table, with fingers kept slightly extended."}, {"label": "goal", "start_step": 2014, "end_step": 2103, "id": "842feed7-75bb-425b-9450-d9917696dea1"}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a grip."}, {"label": "goal", "start_step": 2104, "end_step": 2217, "id": "cc52a743-971d-4e28-a45a-9302c13b9a12"}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward and leftward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moving the block downward with small positional adjustments to fit onto the rod."}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the light purple-topped white cylinder seated on the wooden block base."}, {"label": "goal", "start_step": 2218, "end_step": 2328, "id": "055eaa57-6c57-43c0-acb4-d1ae88f87320"}, {"label": "subtasks", "start_step": 2228, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward and rightward through empty space to approach the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions and closes digits around the green cube on the dark table surface to establish a grip."}, {"label": "goal", "start_step": 2329, "end_step": 2529, "id": "a3e8bd48-4af0-4110-8b55-c4fc06706de3"}, {"label": "subtasks", "start_step": 2348, "end_step": 2361, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand holds the green hollow cylinder and lifts it vertically upward until the cylinder is completely lifted off the dark table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2391, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the grasped green hollow cylinder and moves it toward the upper left, stopping directly above the bottle with a purple cap on the wooden holder."}, {"label": "subtasks", "start_step": 2392, "end_step": 2527, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: place: Right hand lowers the green hollow cylinder while making slight positional adjustments, placing the cylinder onto the purple-capped bottle until the cylinder is stably supported by the bottle."}, {"label": "subtasks", "start_step": 2528, "end_step": 2534, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green hollow cylinder, ending contact with the cylinder."}, {"label": "home", "start_step": 2561, "end_step": 2591, "id": "8ecFTXEMV3fQYsAQ17vCO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: idle: Right hand remains empty at the right side of the tabletop workspace without any visible movement or contact with objects."}, {"label": "subtasks", "start_step": 68, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves left and downward toward the small white rectangular object on the table in front of the wooden peg base, remaining empty as it approaches the target."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand contacts the small white rectangular object, with fingers closing and making minor positional adjustments to establish a grasp while the object stays on the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, raising the block and the adjacent wooden base off the table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the green hexagonal block upward and slightly horizontally to position the block directly above the leftmost purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 291, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post, lowering the block to fit it onto the post to establish an assembly fit."}, {"label": "subtasks", "start_step": 292, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple vertical post without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green hexagonal block, allowing the block to slide down the purple post to rest on the wooden base surface."}, {"label": "subtasks", "start_step": 405, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the front-left white hexagonal nut on the black table surface, approaching the target without contact."}, {"label": "subtasks", "start_step": 465, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut, adjusting finger and wrist positions slightly to establish a stable grip."}, {"label": "subtasks", "start_step": 532, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the front-left white hexagonal nut on the black table surface steadily without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts its finger positions to establish a stable grip on the white hexagonal nut placed on the black work surface."}, {"label": "subtasks", "start_step": 652, "end_step": 681, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the work surface and transports it upward to the position directly above the target purple peg on the wooden assembly stand."}, {"label": "subtasks", "start_step": 682, "end_step": 764, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg while making small positional adjustments to seat it correctly."}, {"label": "subtasks", "start_step": 765, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward empty from the area above the wooden assembly stand toward the left white hexagonal nut on the black work surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 825, "end_step": 884, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the left white hexagonal nut on the work surface, adjusting finger positions and closing fingers to form a stable grasp on the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach_grasp: Right hand approaches the white hexagonal nut on the black table surface with open fingers and closes fingers to grasp the nut, which stays on the table during this period."}, {"label": "subtasks", "start_step": 908, "end_step": 929, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the black table surface and moves it through the air to the position directly above the purple rod on the wooden block."}, {"label": "subtasks", "start_step": 930, "end_step": 1034, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the grasped white hexagonal nut with the purple rod on the wooden block, lowers the nut to fit onto the rod, and makes small adjustments to the wrist and fingers to seat the nut properly on the rod."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward toward the white hexagonal nut placed in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal nut in front of the wooden assembly base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1161, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface and lifts it upward off the table."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block and moves it to the position directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1192, "end_step": 1274, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize the grasp on the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1275, "end_step": 1327, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the area above the wooden peg base toward the green hexagonal block on the table, staying empty before making contact with the block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block on the table to establish a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions to firmly grasp the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface, moves it upward to position directly above the purple vertical rod on the light wooden base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1529, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, lowers the block along the rod to fit onto the underlying white block on the wooden base, opens fingers to release the block and separate from its surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp_release: Right hand closes fingers to grasp the white hexagonal piece on the wooden assembly base, opens fingers to release the piece and separate from it."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the front white hexagonal block placed on the black table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block on the table, slightly adjusting wrist and finger positions while closing fingers to form a grasp on the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hollow cylinder upward until the cylinder is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hollow cylinder through the air toward the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple rod, moves the cylinder downward to fit it securely onto the rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves empty from the upper area of the stacked cylindrical blocks downward and rightward toward the white hexagonal nut placed on the table adjacent to the wooden block tray."}, {"label": "subtasks", "start_step": 1815, "end_step": 1897, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the target white hexagonal nut, closes fingers and makes slight adjustments to finger and wrist positions to establish a secure grasp on the nut."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand moves vertically upward, lifting the grasped white hexagonal block completely clear of the dark table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden block assembly rack in the upper center of the workspace."}, {"label": "subtasks", "start_step": 1942, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central through-hole of the white hexagonal block with the vertical purple rod on the wooden rack, lowering the block slightly to fit it onto the rod."}, {"label": "subtasks", "start_step": 1988, "end_step": 2009, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the white hexagonal block seated on the purple rod, moving fingers slightly away from the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downwards toward the white hexagonal block placed on the table, with fingers kept slightly extended."}, {"label": "subtasks", "start_step": 2055, "end_step": 2129, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to establish a grip."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward and leftward toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moving the block downward with small positional adjustments to fit onto the rod."}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens fingers to release the light purple-topped white cylinder seated on the wooden block base."}, {"label": "subtasks", "start_step": 2228, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward and rightward through empty space to approach the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions and closes digits around the green cube on the dark table surface to establish a grip."}, {"label": "subtasks", "start_step": 2348, "end_step": 2361, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: lift: Right hand holds the green hollow cylinder and lifts it vertically upward until the cylinder is completely lifted off the dark table surface."}, {"label": "subtasks", "start_step": 2362, "end_step": 2391, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the grasped green hollow cylinder and moves it toward the upper left, stopping directly above the bottle with a purple cap on the wooden holder."}, {"label": "subtasks", "start_step": 2392, "end_step": 2527, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: place: Right hand lowers the green hollow cylinder while making slight positional adjustments, placing the cylinder onto the purple-capped bottle until the cylinder is stably supported by the bottle."}, {"label": "subtasks", "start_step": 2528, "end_step": 2534, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the tabletop workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to release the green hollow cylinder, ending contact with the cylinder."}], "episode_index": 4}
+{"source_uid": "90463f076684a067", "num_frames": 2667, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table towards the green hexagonal perforated block on the left of the wooden peg base, with fingers slightly open."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "c34aee12-2288-49a8-a78a-417b046a2938"}, {"label": "valid", "start_step": 0, "end_step": 2635, "id": "eVULYjnyYrC1APKFDiUWi"}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward to contact the green hexagonal perforated block, then closes its fingers and adjusts the grip to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal perforated block on the black table surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the left table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 196, "end_step": 339, "id": "a69f73c3-7339-423e-9955-c724656c0e82"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the leftmost purple peg by lowering it along the peg to the bottom."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the position of the top white block on the wooden pegboard."}, {"label": "goal", "start_step": 340, "end_step": 483, "id": "ab00a423-ee5e-4a0b-b7ee-98e6c8fe64fe"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the top white block on the pegboard, fingers open and move upward away from the block."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 484, "end_step": 729, "id": "b44d9cff-ab65-4e2b-8b36-7bc425a91b9d"}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 540, "end_step": 681, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning the hole and sliding the block down the peg until it reaches the green base."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg by opening its fingers, separating from the block."}, {"label": "subtasks", "start_step": 712, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the leftmost purple peg, moving away from the operation position."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white perforated block onto the top of the front peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 730, "end_step": 846, "id": "edb41e14-49bb-48be-b425-899052505e62"}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 877, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the black table surface, with fingers continuously adjusting to form a stable grip."}, {"label": "goal", "start_step": 847, "end_step": 1122, "id": "fa83f526-cd56-40f5-9f32-c8004a3d33e1"}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 908, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object with the leftmost purple peg on the wooden rack, adjusting the object's position to fit onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow hexagonal block onto the leftmost purple peg of the wooden base until the block is supported."}, {"label": "goal", "start_step": 1123, "end_step": 1275, "id": "4546633a-a10a-41ce-8c69-2f636f726508"}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and toward the white hollow hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1276, "end_step": 1419, "id": "77543c59-617b-4cf2-98a3-53f45ca9127c"}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table surface and moves it to above the middle purple peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the middle purple peg downward until it reaches the peg base, then releases the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the rightmost purple peg of the base."}, {"label": "goal", "start_step": 1420, "end_step": 1521, "id": "777d5b42-ea07-4c8c-9d6b-fb91f40a59bd"}, {"label": "subtasks", "start_step": 1448, "end_step": 1461, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1537, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1522, "end_step": 1689, "id": "2f15fda0-e540-45cf-8a90-1a2430cad606"}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward and rightward to the top of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1694, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target peg on the wooden base, moving the block downward along the peg until it fits into place."}, {"label": "goal", "start_step": 1690, "end_step": 1833, "id": "01b4f78f-cb21-465b-989f-6d7d0c519321"}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal block on the purple vertical rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hollow hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table beside the green block, with fingers adjusting to form a stable grip while the block stays on the table."}, {"label": "goal", "start_step": 1834, "end_step": 1965, "id": "937e4af4-04a7-424e-af20-796265f120cf"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it upward and rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and inserts it downward along the peg to assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the right column of the wooden base, with fingers opening."}, {"label": "goal", "start_step": 1966, "end_step": 2067, "id": "22b1e8f7-c959-4dab-98b4-528835cbe36f"}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table to the right of the wooden base, with fingers closing around the block."}, {"label": "goal", "start_step": 2068, "end_step": 2199, "id": "5f2a5acd-6164-4aed-b314-5cf7ef61b443"}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block upward and leftward to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2189, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple vertical rod, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 2200, "end_step": 2277, "id": "dd6fb0b4-c126-494b-9de0-d3085e89926e"}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 2242, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block and adjusting contact position."}, {"label": "goal", "start_step": 2278, "end_step": 2388, "id": "4b56abae-9669-4a7d-b373-61fe0f462775"}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated cylinder off the table and transports it toward the peg rack at the back of the table."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white perforated cylinder onto the purple peg of the rack by lowering it into fitting position."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the small purple rod on the top of the front-right white bottle on the wooden base."}, {"label": "goal", "start_step": 2389, "end_step": 2496, "id": "17c52333-07c1-47c6-b1ad-eb95e357b6a6"}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers adjusting contact position."}, {"label": "goal", "start_step": 2497, "end_step": 2604, "id": "7af2d865-0bf9-4ba2-9899-3779bcfa81bf"}, {"label": "subtasks", "start_step": 2520, "end_step": 2557, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and moves it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2594, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg on the wooden rack and lowers it onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the green block fitted on the purple peg."}, {"label": "home", "start_step": 2636, "end_step": 2666, "id": "80X5wbkCL18GRSupcEJG2"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table towards the green hexagonal perforated block on the left of the wooden peg base, with fingers slightly open."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand moves downward to contact the green hexagonal perforated block, then closes its fingers and adjusts the grip to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal perforated block on the black table surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the left table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 240, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the leftmost purple peg by lowering it along the peg to the bottom."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand adjusts the position of the top white block on the wooden pegboard."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the top white block on the pegboard, fingers open and move upward away from the block."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 405, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the top of the leftmost purple peg."}, {"label": "subtasks", "start_step": 540, "end_step": 681, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning the hole and sliding the block down the peg until it reaches the green base."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg by opening its fingers, separating from the block."}, {"label": "subtasks", "start_step": 712, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward from the leftmost purple peg, moving away from the operation position."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white perforated block onto the top of the front peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 877, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the black table surface, with fingers continuously adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table surface and transports it toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 908, "end_step": 1109, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object with the leftmost purple peg on the wooden rack, adjusting the object's position to fit onto the peg."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hollow hexagonal block onto the leftmost purple peg of the wooden base until the block is supported."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and toward the white hollow hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1221, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1298, "end_step": 1311, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table surface and moves it to above the middle purple peg."}, {"label": "subtasks", "start_step": 1312, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the middle purple peg downward until it reaches the peg base, then releases the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the rightmost purple peg of the base."}, {"label": "subtasks", "start_step": 1448, "end_step": 1461, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1462, "end_step": 1537, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward and rightward to the top of the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1694, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the target peg on the wooden base, moving the block downward along the peg until it fits into place."}, {"label": "subtasks", "start_step": 1695, "end_step": 1709, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow hexagonal block on the purple vertical rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1747, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hollow hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table beside the green block, with fingers adjusting to form a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it upward and rightward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and inserts it downward along the peg to assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the top of the right column of the wooden base, with fingers opening."}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 2032, "end_step": 2077, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table to the right of the wooden base, with fingers closing around the block."}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hollow block upward off the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block upward and leftward to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2115, "end_step": 2167, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2189, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple vertical rod, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal block on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 2242, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block and adjusting contact position."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white perforated cylinder off the table and transports it toward the peg rack at the back of the table."}, {"label": "subtasks", "start_step": 2318, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white perforated cylinder onto the purple peg of the rack by lowering it into fitting position."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the small purple rod on the top of the front-right white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2445, "end_step": 2519, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers adjusting contact position."}, {"label": "subtasks", "start_step": 2520, "end_step": 2557, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and moves it towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2558, "end_step": 2594, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg on the wooden rack and lowers it onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 2595, "end_step": 2609, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the green block fitted on the purple peg."}], "episode_index": 5}
+{"source_uid": "63f70d4722cbad4c", "num_frames": 2991, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical object on the leftmost rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 182, "id": "63d2684f-424d-4cc0-8d47-b87b863749f0"}, {"label": "valid", "start_step": 0, "end_step": 2958, "id": "D_kttKup0fq6xUz0eCg3K"}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the leftmost rod of the wooden base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 183, "end_step": 390, "id": "987007c2-9b98-4308-8dd1-4728595154d5"}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to above the leftmost purple vertical rod."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the leftmost purple vertical rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening its fingers."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the rod assembly."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 391, "end_step": 541, "id": "2b4ff763-755a-46e9-acad-455707bdc3e1"}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 450, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 542, "end_step": 679, "id": "9f1a2f69-cdcc-413b-9be5-eb5bd7d43e79"}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers."}, {"label": "subtasks", "start_step": 675, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "goal", "start_step": 680, "end_step": 799, "id": "8053b41f-4085-4391-b646-7b9a1e0728a1"}, {"label": "subtasks", "start_step": 682, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to contact and establish grasp on the white hexagonal object on the black table surface."}, {"label": "goal", "start_step": 800, "end_step": 934, "id": "23b37e34-22c3-47c9-9419-240a76b4f3bd"}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod, lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block after it is placed on the purple rod."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves downward to the top of the purple rod on the wooden base."}, {"label": "goal", "start_step": 935, "end_step": 1075, "id": "b38e81f0-eb0c-4c26-a491-bdac5f85e4cc"}, {"label": "subtasks", "start_step": 975, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod for assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table surface, fingers adjust to form stable grip."}, {"label": "goal", "start_step": 1076, "end_step": 1195, "id": "22b80862-363c-4206-b9a2-6363c7274054"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block up from the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block upward to the area of the purple vertical rods."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple vertical rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table without touching it."}, {"label": "goal", "start_step": 1196, "end_step": 1321, "id": "9409b620-ab4f-4256-ae9b-1c59aa712809"}, {"label": "subtasks", "start_step": 1245, "end_step": 1319, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 1322, "end_step": 1585, "id": "8c3a7211-900a-4a61-99b4-2472b43b8be5"}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downwards along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the green block and the wooden base."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table, not contacting the block yet."}, {"label": "goal", "start_step": 1586, "end_step": 1693, "id": "a7e70fc1-7887-4474-bc7a-3f3f84fb339a"}, {"label": "subtasks", "start_step": 1635, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusts fingers to form a stable grasp on the block."}, {"label": "goal", "start_step": 1694, "end_step": 1846, "id": "8968bb1a-ac0c-439b-902a-b9ff93171abc"}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block up from the black table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the held white cylindrical block towards the building block set."}, {"label": "subtasks", "start_step": 1740, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the green block's rod of the building block set by aligning and pressing it down."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block that has been assembled on the rod."}, {"label": "goal", "start_step": 1847, "end_step": 1945, "id": "1a7950ed-5103-4cdd-b115-d86103ddbbb2"}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward towards the white cylindrical block placed on the table to the right of the green wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1964, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing around the block to form a grip."}, {"label": "goal", "start_step": 1946, "end_step": 2176, "id": "cae2b187-59ea-4a57-bac7-9ca0c8e30fad"}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position right above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2167, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod by inserting the rod into the central hole of the block and lowering the block down along the rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block which is fully placed on the purple vertical rod."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block placed on the table."}, {"label": "goal", "start_step": 2177, "end_step": 2257, "id": "b6605394-61aa-4f8b-a2b0-0cdb35daa4b5"}, {"label": "subtasks", "start_step": 2212, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers close to form a grasp."}, {"label": "goal", "start_step": 2258, "end_step": 2401, "id": "b4ac0e40-5f82-42a2-b68b-33017ed719ba"}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and moves it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2399, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the rightmost column of the wooden base."}, {"label": "goal", "start_step": 2402, "end_step": 2482, "id": "e1832f47-1252-4907-ae98-2b35a5133e4c"}, {"label": "subtasks", "start_step": 2422, "end_step": 2451, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2452, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table surface."}, {"label": "goal", "start_step": 2483, "end_step": 2947, "id": "21d19bd9-7266-4061-a2c6-42500d3166b1"}, {"label": "subtasks", "start_step": 2505, "end_step": 2541, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the white post on the wooden rack."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white post on the wooden rack and places it onto the post."}, {"label": "subtasks", "start_step": 2572, "end_step": 2931, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down the white post repeatedly to fit it tightly."}, {"label": "subtasks", "start_step": 2932, "end_step": 2954, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats from the wooden rack."}, {"label": "home", "start_step": 2959, "end_step": 2990, "id": "fjYhhUVFUs1Dly-EPfCRQ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical object on the leftmost rod of the wooden base."}, {"label": "subtasks", "start_step": 98, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the leftmost rod of the wooden base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to above the leftmost purple vertical rod."}, {"label": "subtasks", "start_step": 218, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the leftmost purple vertical rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 270, "end_step": 359, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple rod to the bottom position."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening its fingers."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the rod assembly."}, {"label": "subtasks", "start_step": 390, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 428, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 450, "end_step": 539, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 585, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers."}, {"label": "subtasks", "start_step": 675, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 690, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 720, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to contact and establish grasp on the white hexagonal object on the black table surface."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 840, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod, lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block after it is placed on the purple rod."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves downward to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod for assembly."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table surface, fingers adjust to form stable grip."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block up from the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block upward to the area of the purple vertical rods."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple vertical rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table without touching it."}, {"label": "subtasks", "start_step": 1245, "end_step": 1319, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1380, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downwards along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats away from the green block and the wooden base."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table, not contacting the block yet."}, {"label": "subtasks", "start_step": 1635, "end_step": 1709, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusts fingers to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block up from the black table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1739, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the held white cylindrical block towards the building block set."}, {"label": "subtasks", "start_step": 1740, "end_step": 1844, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the green block's rod of the building block set by aligning and pressing it down."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block that has been assembled on the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and rightward towards the white cylindrical block placed on the table to the right of the green wooden base."}, {"label": "subtasks", "start_step": 1912, "end_step": 1964, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position right above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2167, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple vertical rod by inserting the rod into the central hole of the block and lowering the block down along the rod."}, {"label": "subtasks", "start_step": 2168, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block which is fully placed on the purple vertical rod."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 2212, "end_step": 2279, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers close to form a grasp."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and moves it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2399, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 2422, "end_step": 2451, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2452, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2505, "end_step": 2541, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it towards the white post on the wooden rack."}, {"label": "subtasks", "start_step": 2542, "end_step": 2571, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white post on the wooden rack and places it onto the post."}, {"label": "subtasks", "start_step": 2572, "end_step": 2931, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down the white post repeatedly to fit it tightly."}, {"label": "subtasks", "start_step": 2932, "end_step": 2954, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the green block and retreats from the wooden rack."}], "episode_index": 6}
+{"source_uid": "e5c2d4220561b94b", "num_frames": 3403, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: idle: Right hand remains empty at the upper right position above the table without any independent movement."}, {"label": "goal", "start_step": 0, "end_step": 246, "id": "ef75ba73-3125-4455-8d52-1a22c231dd03"}, {"label": "valid", "start_step": 0, "end_step": 3369, "id": "KgvhAWCPC9Qv4xozygsN3"}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block at the left front of the wooden base with fingers slightly open."}, {"label": "subtasks", "start_step": 98, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, fingers close and adjust contact positions repeatedly to attempt a stable grip."}, {"label": "goal", "start_step": 247, "end_step": 426, "id": "790580aa-7364-4a65-98a2-a103fc0f1fc6"}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the grasped green block off the work surface and moves it upward to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 292, "end_step": 419, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, makes slight positional adjustments to the block, and lowers the block to fit it onto the peg until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport_release: Right hand holds the white part from the assembly rack, moves downward to the table surface and releases the part onto the table."}, {"label": "goal", "start_step": 427, "end_step": 555, "id": "06822e5c-e4df-4963-8c7b-872e4174bd37"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves empty downward toward the front white hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making small adjustments to fingers and wrist to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the dark table surface, with the nut fully separated from the table by the end of this segment."}, {"label": "goal", "start_step": 556, "end_step": 738, "id": "76427632-79fb-4bee-b9e1-fa9a3f879728"}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the leftmost purple peg on the wooden assembly base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: place: Right hand lowers the white hexagonal nut to rest on the top of the leftmost purple peg assembly."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on top of the leftmost purple peg assembly with no observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: press: Right hand presses the white hexagonal nut downward along the leftmost purple peg until the nut rests firmly on the green base block at the bottom of the peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, moving slightly upward to separate from the nut by the end of the segment."}, {"label": "goal", "start_step": 739, "end_step": 894, "id": "f61d86f1-ba5f-44c4-b536-127dbbaa147e"}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves down from the area above the wooden assembly base towards the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 795, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block, making small adjustments to finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the black table surface without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize its grip on the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 895, "end_step": 1050, "id": "4911a19d-ce5d-4270-b330-8ef82a8f6319"}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and moves the nut downward to fit it onto the rod until it rests on the lower white hexagonal block."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the mated white hexagonal nut on the purple rod without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut on the purple rod, fully separating the hand from the nut."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the left purple peg on the wooden assembly base, opening fingers to release grip on the block."}, {"label": "goal", "start_step": 1051, "end_step": 1203, "id": "dde44604-c9c2-4374-aae4-5f2a779e79b9"}, {"label": "subtasks", "start_step": 1088, "end_step": 1131, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward while empty, approaching the small white block resting on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand adjusts finger positions to close around the small white block on the table, making minor contact adjustments to establish a stable hold."}, {"label": "goal", "start_step": 1204, "end_step": 1350, "id": "3b53be18-cc99-4454-b4c9-22a693b16689"}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, then lowers the block to mate it onto the peg, fitting it snugly against the stacked block below."}, {"label": "subtasks", "start_step": 1342, "end_step": 1349, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release_retreat: Right hand opens fingers to release the mated white hexagonal block, then retreats upward and away from the assembled stack on the base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the leftmost green hexagonal block on the dark table surface, with fingers held in a pre-grasp open posture."}, {"label": "goal", "start_step": 1351, "end_step": 1506, "id": "08c9da90-3346-4c48-86f0-0b05e969e599"}, {"label": "subtasks", "start_step": 1395, "end_step": 1491, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand makes contact with the leftmost green hexagonal block on the dark table surface, adjusting finger positions and closing fingers around the block to form a stable grasp, while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the leftmost green hexagonal block on the dark table surface without moving, maintaining a stable closed-finger grasp with no observable adjustment to hand or block position."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green block resting on the black table surface."}, {"label": "goal", "start_step": 1507, "end_step": 1752, "id": "bf7f75c1-1422-4e70-93e6-c5539b4b62f5"}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport: Right hand carries the green block upward and toward the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the green block with the purple post and lowers it to fit securely onto the post."}, {"label": "subtasks", "start_step": 1590, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the green block fitted on the purple post without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1814, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the front-middle dark table surface, with fingers slightly open during the approach."}, {"label": "goal", "start_step": 1753, "end_step": 1902, "id": "7a070ec0-9f8b-4133-a194-704bad8f44e5"}, {"label": "subtasks", "start_step": 1815, "end_step": 1919, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block, closing fingers and adjusting contact points to establish a grasp on the block."}, {"label": "goal", "start_step": 1903, "end_step": 2073, "id": "98e37629-b0f4-486f-8021-f43acf00e05a"}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block until the block is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden peg stand, positioning the block directly above the target purple peg."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg, then moves the block downward to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: place_release: Right hand lowers the white cylindrical block into the empty slot on the wooden rack and opens fingers to release the block onto the rack."}, {"label": "goal", "start_step": 2074, "end_step": 2235, "id": "bfea52c5-c0a5-416c-9812-09326536b37c"}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal block on the table, making minor adjustments to establish a stable grip."}, {"label": "goal", "start_step": 2236, "end_step": 2394, "id": "d4537e95-3eaa-4ed7-8fa4-7d6f1415f5be"}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the grasped small white cylindrical block off the tabletop and carries it upward then left toward the wooden block base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2347, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the small white cylindrical block with the empty slot on the wooden block base and inserts it into the slot."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the inserted small white cylindrical block on the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 2385, "end_step": 2444, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward and rightward from the position near the purple rod toward the white hexagonal block on the table, staying empty as it approaches the target object."}, {"label": "goal", "start_step": 2395, "end_step": 2490, "id": "25c71091-2470-4094-b50f-022aa21d8a0d"}, {"label": "subtasks", "start_step": 2445, "end_step": 2511, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, making small grip adjustments to establish contact with the object."}, {"label": "goal", "start_step": 2491, "end_step": 2646, "id": "4b2ef5d0-124e-4783-9a6b-b14f0a97e4dc"}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the white block clear of the black table surface and transports it upward to the position above the empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2542, "end_step": 2639, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate_place: Right hand aligns the white block with the empty slot on the wooden stand and lowers it into the slot until the block is fully supported by the stand."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release: Right hand opens its fingers to release the white block seated in the wooden stand slot."}, {"label": "goal", "start_step": 2647, "end_step": 2739, "id": "a0b4067d-ffcf-4769-a008-ca26bb093d35"}, {"label": "subtasks", "start_step": 2655, "end_step": 2699, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves empty in a down-right direction toward the green hollow cubic block placed on the dark gray table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes fingers around the green hollow cubic block, making minor finger adjustments to establish contact with the block while it remains on the table surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift: Right hand holds the green block on the table surface and lifts it upward until the block is completely off the table."}, {"label": "goal", "start_step": 2740, "end_step": 3375, "id": "b6c22ff1-74d2-4aaf-9ace-618cecafc3c5"}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport: Right hand carries the lifted green block, moving it toward the target position above the white cylinder on the wooden block rack."}, {"label": "subtasks", "start_step": 2790, "end_step": 3329, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand adjusts the position and orientation of the green block, aligns its inner hole with the target white cylinder, and lowers the block to fit onto the cylinder until the block is stably supported by the cylinder."}, {"label": "subtasks", "start_step": 3330, "end_step": 3351, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release: Right hand opens its fingers to release the green block mounted on the cylinder, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 3352, "end_step": 3389, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: retreat: Right hand moves empty away from the assembled green block toward the right side of the workspace."}, {"label": "home", "start_step": 3370, "end_step": 3402, "id": "dTmxVZxtLmgOOPYi1Arh9"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: idle: Right hand remains empty at the upper right position above the table without any independent movement."}, {"label": "subtasks", "start_step": 68, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block at the left front of the wooden base with fingers slightly open."}, {"label": "subtasks", "start_step": 98, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block, fingers close and adjust contact positions repeatedly to attempt a stable grip."}, {"label": "subtasks", "start_step": 262, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the grasped green block off the work surface and moves it upward to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 292, "end_step": 419, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, makes slight positional adjustments to the block, and lowers the block to fit it onto the peg until the block rests on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 471, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport_release: Right hand holds the white part from the assembly rack, moves downward to the table surface and releases the part onto the table."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves empty downward toward the front white hexagonal block on the table, approaching the block without making contact."}, {"label": "subtasks", "start_step": 502, "end_step": 554, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block on the table, making small adjustments to fingers and wrist to form a stable grip."}, {"label": "subtasks", "start_step": 555, "end_step": 577, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift: Right hand lifts the white hexagonal nut upward from the dark table surface, with the nut fully separated from the table by the end of this segment."}, {"label": "subtasks", "start_step": 578, "end_step": 607, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward and toward the leftmost purple peg on the wooden assembly base, positioning the nut directly above the peg."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: place: Right hand lowers the white hexagonal nut to rest on the top of the leftmost purple peg assembly."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the white hexagonal nut steady on top of the leftmost purple peg assembly with no observable movement of the hand or nut."}, {"label": "subtasks", "start_step": 698, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: press: Right hand presses the white hexagonal nut downward along the leftmost purple peg until the nut rests firmly on the green base block at the bottom of the peg."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal nut, moving slightly upward to separate from the nut by the end of the segment."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves down from the area above the wooden assembly base towards the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 795, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block, making small adjustments to finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the black table surface without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand makes slight finger and wrist adjustments to stabilize its grip on the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 908, "end_step": 951, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black table surface and transports it upward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 989, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and moves the nut downward to fit it onto the rod until it rests on the lower white hexagonal block."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the mated white hexagonal nut on the purple rod without any observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut on the purple rod, fully separating the hand from the nut."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: place_release: Right hand lowers the held white hexagonal block onto the left purple peg on the wooden assembly base, opening fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1088, "end_step": 1131, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward while empty, approaching the small white block resting on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1221, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand adjusts finger positions to close around the small white block on the table, making minor contact adjustments to establish a stable hold."}, {"label": "subtasks", "start_step": 1222, "end_step": 1267, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1341, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, then lowers the block to mate it onto the peg, fitting it snugly against the stacked block below."}, {"label": "subtasks", "start_step": 1342, "end_step": 1349, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release_retreat: Right hand opens fingers to release the mated white hexagonal block, then retreats upward and away from the assembled stack on the base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward from the area above the wooden pegboard toward the leftmost green hexagonal block on the dark table surface, with fingers held in a pre-grasp open posture."}, {"label": "subtasks", "start_step": 1395, "end_step": 1491, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand makes contact with the leftmost green hexagonal block on the dark table surface, adjusting finger positions and closing fingers around the block to form a stable grasp, while the block remains resting on the table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the leftmost green hexagonal block on the dark table surface without moving, maintaining a stable closed-finger grasp with no observable adjustment to hand or block position."}, {"label": "subtasks", "start_step": 1500, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green block resting on the black table surface."}, {"label": "subtasks", "start_step": 1530, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift: Right hand lifts the grasped green block upward until the block is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport: Right hand carries the green block upward and toward the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the green block with the purple post and lowers it to fit securely onto the post."}, {"label": "subtasks", "start_step": 1590, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the green block fitted on the purple post without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1814, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the front-middle dark table surface, with fingers slightly open during the approach."}, {"label": "subtasks", "start_step": 1815, "end_step": 1919, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block, closing fingers and adjusting contact points to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block until the block is fully lifted off the table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden peg stand, positioning the block directly above the target purple peg."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg, then moves the block downward to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 2025, "end_step": 2069, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: place_release: Right hand lowers the white cylindrical block into the empty slot on the wooden rack and opens fingers to release the block onto the rack."}, {"label": "subtasks", "start_step": 2100, "end_step": 2159, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward toward the upper white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal block on the table, making minor adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the grasped small white cylindrical block off the tabletop and carries it upward then left toward the wooden block base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2347, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand aligns the small white cylindrical block with the empty slot on the wooden block base and inserts it into the slot."}, {"label": "subtasks", "start_step": 2348, "end_step": 2384, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: hold: Right hand holds the inserted small white cylindrical block on the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 2385, "end_step": 2444, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves downward and rightward from the position near the purple rod toward the white hexagonal block on the table, staying empty as it approaches the target object."}, {"label": "subtasks", "start_step": 2445, "end_step": 2511, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table, making small grip adjustments to establish contact with the object."}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift_transport: Right hand lifts the white block clear of the black table surface and transports it upward to the position above the empty slot on the wooden block stand."}, {"label": "subtasks", "start_step": 2542, "end_step": 2639, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate_place: Right hand aligns the white block with the empty slot on the wooden stand and lowers it into the slot until the block is fully supported by the stand."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release: Right hand opens its fingers to release the white block seated in the wooden stand slot."}, {"label": "subtasks", "start_step": 2655, "end_step": 2699, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: reach: Right hand moves empty in a down-right direction toward the green hollow cubic block placed on the dark gray table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2729, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: grasp: Right hand closes fingers around the green hollow cubic block, making minor finger adjustments to establish contact with the block while it remains on the table surface."}, {"label": "subtasks", "start_step": 2730, "end_step": 2759, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: lift: Right hand holds the green block on the table surface and lifts it upward until the block is completely off the table."}, {"label": "subtasks", "start_step": 2760, "end_step": 2789, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: transport: Right hand carries the lifted green block, moving it toward the target position above the white cylinder on the wooden block rack."}, {"label": "subtasks", "start_step": 2790, "end_step": 3329, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: mate: Right hand adjusts the position and orientation of the green block, aligns its inner hole with the target white cylinder, and lowers the block to fit onto the cylinder until the block is stably supported by the cylinder."}, {"label": "subtasks", "start_step": 3330, "end_step": 3351, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: release: Right hand opens its fingers to release the green block mounted on the cylinder, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 3352, "end_step": 3389, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any independent movement. | Right hand: retreat: Right hand moves empty away from the assembled green block toward the right side of the workspace."}], "episode_index": 7}
+{"source_uid": "ae80b9aa0acd8522", "num_frames": 3261, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from the lower left position to the home position at the upper left side of the frame. | Right hand: reach: Right hand moves from the right side of the frame toward the green hexagonal block on the table to the left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 207, "id": "c58c59e0-7614-4c69-a972-666b520b10cc"}, {"label": "valid", "start_step": 0, "end_step": 3229, "id": "KWQ_1VvklHNE89rduxV85"}, {"label": "subtasks", "start_step": 30, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves from the right side of the frame toward the green hexagonal block on the table to the left of the wooden base."}, {"label": "subtasks", "start_step": 112, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 208, "end_step": 360, "id": "623328dc-b7ef-4737-8f44-77c6f0527613"}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward to the position right above the vertical peg on the wooden board."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the green cubic block with the vertical peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the vertical peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward from the top of the peg set toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 361, "end_step": 465, "id": "1a14b626-c6c0-4c5c-98d8-a395b9de9d6a"}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers adjusting the grip while the object stays on the table."}, {"label": "goal", "start_step": 466, "end_step": 756, "id": "5fa9fa45-0bcb-47b9-a275-7a15c16fa28e"}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the wooden peg board with purple pegs."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg of the wooden peg board."}, {"label": "subtasks", "start_step": 532, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg and releases its grip."}, {"label": "goal", "start_step": 757, "end_step": 945, "id": "84d28beb-09d0-4249-ad96-8c45a4024e23"}, {"label": "subtasks", "start_step": 772, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the left of the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hexagonal block on the table, with slight finger adjustments for stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 946, "end_step": 1101, "id": "0d2be2b9-684e-4fbd-9fc4-394679337e8a"}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack by inserting the rod into the block's central hole."}, {"label": "subtasks", "start_step": 1095, "end_step": 1177, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the small white cube on the table in front of the wooden peg rack, not yet touching the cube."}, {"label": "goal", "start_step": 1102, "end_step": 1302, "id": "19adf287-76b9-49ce-b50e-7593e1cddb16"}, {"label": "subtasks", "start_step": 1178, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand touches the small white cube on the table and adjusts its fingers to form a stable grasp."}, {"label": "goal", "start_step": 1303, "end_step": 1557, "id": "5812e9d7-ad07-4123-b8bf-7c52a7ba85d7"}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the white hollow block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the white hollow block to the position directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hollow block with the purple vertical peg by aligning its hole with the peg and lowering it onto the peg to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press: Right hand presses the white hollow block downward along the purple vertical peg to push it further into place."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hollow block on the purple vertical peg without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple vertical post on the wooden base, then releases the block."}, {"label": "goal", "start_step": 1558, "end_step": 1713, "id": "3e19d9e6-508a-4941-a5f9-1201cfca25b4"}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1709, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the green cubic block on the table without any observable movement."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1714, "end_step": 1863, "id": "e8ae172f-5701-4ef1-b5a8-c757835ae571"}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it upward and leftward toward the wooden peg board with white and purple pegs."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the white peg on the wooden peg board and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1778, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the white peg to push it further onto the peg."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: place_release: Right hand places the white cylindrical piece onto the purple peg on the wooden base and releases its grip on the piece."}, {"label": "goal", "start_step": 1864, "end_step": 1974, "id": "3974f88c-ad15-438e-be24-c99719f2770e"}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal piece on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal piece in mid-air above the table surface without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with a hole on the black table, adjusting fingers to stabilize the grip."}, {"label": "goal", "start_step": 1975, "end_step": 2124, "id": "f74b35c1-3cfc-41e1-8400-f4217c8aafdb"}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: place_release: Right hand places the white hexagonal block on top of the purple rod of the wooden base and releases the block."}, {"label": "goal", "start_step": 2125, "end_step": 2226, "id": "b8409b04-457c-4af5-8237-76f28d36a269"}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves toward the upper white hexagonal block on the right side of the table."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the right side of the table with fingers closing around it."}, {"label": "goal", "start_step": 2227, "end_step": 2367, "id": "a0e45e96-0afc-40e6-8d73-f895175f5044"}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod, inserting the rod through the hole of the block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 2368, "end_step": 2481, "id": "6adeedc3-2936-4cc9-a925-bb0b68149a50"}, {"label": "subtasks", "start_step": 2378, "end_step": 2414, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, with empty hand approaching the target."}, {"label": "subtasks", "start_step": 2415, "end_step": 2519, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2482, "end_step": 2652, "id": "eb6ae506-2e12-41e5-813f-9fd6307ea747"}, {"label": "subtasks", "start_step": 2520, "end_step": 2571, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it upward and leftward to the top of the wooden tray."}, {"label": "subtasks", "start_step": 2572, "end_step": 2639, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden tray, aligning and lowering it to fit."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: place_release: Right hand places the white cylindrical piece onto the rightmost column of the wooden base and releases the piece."}, {"label": "goal", "start_step": 2653, "end_step": 2757, "id": "7d9fa553-5d11-4a19-bce8-9f0110dd0229"}, {"label": "subtasks", "start_step": 2662, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2767, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2758, "end_step": 3210, "id": "0cb130a4-e208-4cb1-8a5c-4cb2a71870b6"}, {"label": "subtasks", "start_step": 2768, "end_step": 2781, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the green block upward from the black table until the block is completely off the table surface."}, {"label": "subtasks", "start_step": 2782, "end_step": 2834, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the green block toward the bottle tray in the upper middle of the frame."}, {"label": "subtasks", "start_step": 2835, "end_step": 3187, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the green block with the white bottle on the tray, repeatedly adjusting position to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 3188, "end_step": 3209, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: retreat: Right hand retreats to the right away from the bottle tray."}, {"label": "home", "start_step": 3230, "end_step": 3260, "id": "l4oFJDBV0QqsYu6W94sbA"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from the lower left position to the home position at the upper left side of the frame. | Right hand: reach: Right hand moves from the right side of the frame toward the green hexagonal block on the table to the left of the wooden base."}, {"label": "subtasks", "start_step": 30, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves from the right side of the frame toward the green hexagonal block on the table to the left of the wooden base."}, {"label": "subtasks", "start_step": 112, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward to the position right above the vertical peg on the wooden board."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the green cubic block with the vertical peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the vertical peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward from the top of the peg set toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 398, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 442, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the black table surface, with fingers adjusting the grip while the object stays on the table."}, {"label": "subtasks", "start_step": 488, "end_step": 509, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it toward the wooden peg board with purple pegs."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg of the wooden peg board."}, {"label": "subtasks", "start_step": 532, "end_step": 749, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg and releases its grip."}, {"label": "subtasks", "start_step": 772, "end_step": 847, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the left of the table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hexagonal block on the table, with slight finger adjustments for stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the wooden rack with purple rods."}, {"label": "subtasks", "start_step": 998, "end_step": 1094, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack by inserting the rod into the block's central hole."}, {"label": "subtasks", "start_step": 1095, "end_step": 1177, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the small white cube on the table in front of the wooden peg rack, not yet touching the cube."}, {"label": "subtasks", "start_step": 1178, "end_step": 1319, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand touches the small white cube on the table and adjusts its fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the white hollow block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the white hollow block to the position directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1409, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hollow block with the purple vertical peg by aligning its hole with the peg and lowering it onto the peg to establish the assembly relationship."}, {"label": "subtasks", "start_step": 1410, "end_step": 1499, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press: Right hand presses the white hollow block downward along the purple vertical peg to push it further into place."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hollow block on the purple vertical peg without moving."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple vertical post on the wooden base, then releases the block."}, {"label": "subtasks", "start_step": 1568, "end_step": 1604, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1628, "end_step": 1709, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the green cubic block on the table without any observable movement."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the black table and transports it upward and leftward toward the wooden peg board with white and purple pegs."}, {"label": "subtasks", "start_step": 1748, "end_step": 1777, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the white peg on the wooden peg board and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1778, "end_step": 1859, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the white peg to push it further onto the peg."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: place_release: Right hand places the white cylindrical piece onto the purple peg on the wooden base and releases its grip on the piece."}, {"label": "subtasks", "start_step": 1890, "end_step": 1911, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal piece on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal piece in mid-air above the table surface without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block with a hole on the black table, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2061, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: place_release: Right hand places the white hexagonal block on top of the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves toward the upper white hexagonal block on the right side of the table."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the right side of the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2250, "end_step": 2294, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod, inserting the rod through the hole of the block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2378, "end_step": 2414, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface, with empty hand approaching the target."}, {"label": "subtasks", "start_step": 2415, "end_step": 2519, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2520, "end_step": 2571, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it upward and leftward to the top of the wooden tray."}, {"label": "subtasks", "start_step": 2572, "end_step": 2639, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden tray, aligning and lowering it to fit."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: place_release: Right hand places the white cylindrical piece onto the rightmost column of the wooden base and releases the piece."}, {"label": "subtasks", "start_step": 2662, "end_step": 2699, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2767, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2768, "end_step": 2781, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the green block upward from the black table until the block is completely off the table surface."}, {"label": "subtasks", "start_step": 2782, "end_step": 2834, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the green block toward the bottle tray in the upper middle of the frame."}, {"label": "subtasks", "start_step": 2835, "end_step": 3187, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the green block with the white bottle on the tray, repeatedly adjusting position to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 3188, "end_step": 3209, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: release: Right hand releases the green block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 3210, "end_step": 3224, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: retreat: Right hand retreats to the right away from the bottle tray."}], "episode_index": 8}
+{"source_uid": "0b7730eb2bd5ddf8", "num_frames": 4078, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylinder on the left side of the wooden base without contacting the object."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "1ba5dec8-862b-4462-a377-81c40b19f889"}, {"label": "valid", "start_step": 0, "end_step": 4045, "id": "17P_i5OQ6O0jcTmlSCIwU"}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylinder on the wooden base, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylinder upwards to make it leave the supporting surface of the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand carries the white cylinder downwards towards the black table surface near the leftmost green block."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylinder onto the black table surface until the object is stably supported by the table."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black work surface until it is completely off the surface."}, {"label": "goal", "start_step": 196, "end_step": 366, "id": "c78da1b5-53fe-4244-bb3b-7f694969a076"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and places it onto the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden base area towards the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 367, "end_step": 591, "id": "58f12950-38ad-4feb-b7b6-18bf77ce91dd"}, {"label": "subtasks", "start_step": 428, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table and adjusts the grip to stabilize the object."}, {"label": "goal", "start_step": 592, "end_step": 711, "id": "8d66a452-5d0e-4aa5-b759-79d6ccb57f4b"}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple post of the wooden base, adjusting position to align and fit."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards from the upper wooden block set towards the white hollow block on the lower left of the table."}, {"label": "goal", "start_step": 712, "end_step": 801, "id": "6945946c-c317-4f5a-84e3-9ae8c36527c0"}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the lower left of the table."}, {"label": "goal", "start_step": 802, "end_step": 945, "id": "e5bd6d1f-95d0-4849-bafd-cac47efdfa83"}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base, adjusting the position to fit correctly."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder block placed on the purple rod of the wooden base."}, {"label": "goal", "start_step": 946, "end_step": 1065, "id": "a031a5d6-e046-4567-981c-0c6738cee5ac"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white cylinder block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylinder block on the black table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1066, "end_step": 1203, "id": "f8d60c1e-f052-4894-a8c6-f2deca0d70bc"}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple post to fix it in place."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden block set towards the green hexagonal block on the table."}, {"label": "goal", "start_step": 1204, "end_step": 1338, "id": "47bffb90-ca8a-490a-b56f-56fc8809db40"}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it towards the target peg on the wooden rack."}, {"label": "goal", "start_step": 1339, "end_step": 1461, "id": "8debd1b5-6afe-47c7-9e5c-3d8d9db75b2d"}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press_release: Right hand presses the green block down to fully seat on the peg, then releases the green block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves upward away from the wooden rack."}, {"label": "goal", "start_step": 1462, "end_step": 1590, "id": "f1b61269-85a2-429f-aa7c-c7d951363e73"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden block assembly area toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1604, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1591, "end_step": 1750, "id": "b97fcd45-0b13-4873-90ad-8110854d88f0"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the wooden pegboard."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the target peg of the wooden board."}, {"label": "subtasks", "start_step": 1642, "end_step": 1739, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the wooden board peg without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the stacked blocks on the wooden base."}, {"label": "goal", "start_step": 1751, "end_step": 1860, "id": "bf212a95-9ec6-4692-bbc2-1f3010a96122"}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1861, "end_step": 1983, "id": "603b089a-effa-41c6-90d8-e1aa6583b61d"}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod, lowering it until it is supported by the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1984, "end_step": 2079, "id": "f2e2d039-4619-4e16-bd5f-309e2aec1c8f"}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2025, "end_step": 2107, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand approaches the white hexagonal block, fingers close and adjust to form a stable grip on the block."}, {"label": "goal", "start_step": 2080, "end_step": 2205, "id": "aa192b90-435d-42a9-a31b-696e496e61da"}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table surface and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2138, "end_step": 2204, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white cylindrical object onto the purple rod on the wooden rack and releases its grasp."}, {"label": "subtasks", "start_step": 2205, "end_step": 2249, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the black table, without contacting the block."}, {"label": "goal", "start_step": 2206, "end_step": 2307, "id": "6cdaaa02-387f-4849-98bd-ccbb9334214c"}, {"label": "subtasks", "start_step": 2250, "end_step": 2331, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the green cubic block, adjusts fingers to establish a stable grasp on the block."}, {"label": "goal", "start_step": 2308, "end_step": 4014, "id": "4859f0e8-ddd7-4d15-a5d2-c362721063ca"}, {"label": "subtasks", "start_step": 2332, "end_step": 2347, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 2348, "end_step": 2407, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block towards the white column on the wooden shelf."}, {"label": "subtasks", "start_step": 2408, "end_step": 2519, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the white column to attempt assembly."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block, which falls onto the table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2669, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves empty away from the shelf towards the lower right area of the table."}, {"label": "subtasks", "start_step": 2670, "end_step": 2767, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the green block at the lower right of the table."}, {"label": "subtasks", "start_step": 2768, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green block at the lower right of the table."}, {"label": "subtasks", "start_step": 2790, "end_step": 2834, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white column on the wooden shelf."}, {"label": "subtasks", "start_step": 2835, "end_step": 3307, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the white column to attempt assembly."}, {"label": "subtasks", "start_step": 3308, "end_step": 3329, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block, which falls onto the table surface."}, {"label": "subtasks", "start_step": 3330, "end_step": 3681, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the green block on the table surface."}, {"label": "subtasks", "start_step": 3682, "end_step": 3711, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green block on the table surface."}, {"label": "subtasks", "start_step": 3712, "end_step": 3914, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white column on the wooden shelf."}, {"label": "subtasks", "start_step": 3915, "end_step": 4019, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the green block onto the white column and releases it."}, {"label": "home", "start_step": 4046, "end_step": 4077, "id": "2HRvWT0WHu1QxYesXjH3h"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylinder on the left side of the wooden base without contacting the object."}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the white cylinder on the wooden base, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylinder upwards to make it leave the supporting surface of the wooden base."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand carries the white cylinder downwards towards the black table surface near the leftmost green block."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylinder onto the black table surface until the object is stably supported by the table."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black work surface until it is completely off the surface."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple rod and places it onto the rod."}, {"label": "subtasks", "start_step": 285, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 360, "end_step": 427, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden base area towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 428, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table and adjusts the grip to stabilize the object."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple post of the wooden base, adjusting position to align and fit."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards from the upper wooden block set towards the white hollow block on the lower left of the table."}, {"label": "subtasks", "start_step": 742, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the lower left of the table."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple post on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple post of the wooden base, adjusting the position to fit correctly."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder block placed on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white cylinder block on the black table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylinder block on the black table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the rightmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 1155, "end_step": 1199, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple post to fix it in place."}, {"label": "subtasks", "start_step": 1200, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden block set towards the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1245, "end_step": 1334, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it towards the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press_release: Right hand presses the green block down to fully seat on the peg, then releases the green block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves upward away from the wooden rack."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward from the wooden block assembly area toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1500, "end_step": 1604, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the wooden pegboard."}, {"label": "subtasks", "start_step": 1628, "end_step": 1641, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the target peg of the wooden board."}, {"label": "subtasks", "start_step": 1642, "end_step": 1739, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the wooden board peg without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it to the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod, lowering it until it is supported by the rod."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylindrical block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 2025, "end_step": 2107, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand approaches the white hexagonal block, fingers close and adjust to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table surface and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2138, "end_step": 2204, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand mates the white cylindrical object onto the purple rod on the wooden rack and releases its grasp."}, {"label": "subtasks", "start_step": 2205, "end_step": 2249, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the black table, without contacting the block."}, {"label": "subtasks", "start_step": 2250, "end_step": 2331, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the green cubic block, adjusts fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2347, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 2348, "end_step": 2407, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block towards the white column on the wooden shelf."}, {"label": "subtasks", "start_step": 2408, "end_step": 2519, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the white column to attempt assembly."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block, which falls onto the table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2669, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves empty away from the shelf towards the lower right area of the table."}, {"label": "subtasks", "start_step": 2670, "end_step": 2767, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the green block at the lower right of the table."}, {"label": "subtasks", "start_step": 2768, "end_step": 2789, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green block at the lower right of the table."}, {"label": "subtasks", "start_step": 2790, "end_step": 2834, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white column on the wooden shelf."}, {"label": "subtasks", "start_step": 2835, "end_step": 3307, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the white column to attempt assembly."}, {"label": "subtasks", "start_step": 3308, "end_step": 3329, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block, which falls onto the table surface."}, {"label": "subtasks", "start_step": 3330, "end_step": 3681, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand reaches towards the green block on the table surface."}, {"label": "subtasks", "start_step": 3682, "end_step": 3711, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green block on the table surface."}, {"label": "subtasks", "start_step": 3712, "end_step": 3914, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block and transports it towards the white column on the wooden shelf."}, {"label": "subtasks", "start_step": 3915, "end_step": 4019, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the green block onto the white column and releases it."}], "episode_index": 9}
+{"source_uid": "5e021f1b72a47adf", "num_frames": 2908, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves from the right side of the workspace toward the green hexagonal block adjacent to the wooden peg base, holding fingers in an extended open position while approaching the target."}, {"label": "goal", "start_step": 0, "end_step": 162, "id": "70d6ec8e-e683-439f-9ece-38f30d25ee83"}, {"label": "valid", "start_step": 0, "end_step": 2876, "id": "qqz2RGRB9EMlBNUeM-iQs"}, {"label": "subtasks", "start_step": 105, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block near the wooden peg base, making small finger and wrist adjustments to establish grip while the block remains resting on the table surface."}, {"label": "goal", "start_step": 163, "end_step": 318, "id": "2a39ab46-9354-4d0a-82ce-51a77aed1923"}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg to fit the block onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until it rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal block on the left purple peg to establish a stable grip."}, {"label": "goal", "start_step": 319, "end_step": 471, "id": "d3c612c7-dce2-429b-9ccb-8b2235ee2a7b"}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until it is completely separated from the purple peg on the pegboard."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand moves the grasped white hexagonal block downward to a position directly above the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place: Right hand lowers the grasped white hexagonal block onto the black table surface, making slight adjustments until the block is stably supported by the table."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: hold: Right hand holds the white hexagonal block steadily on the black table surface with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the white hexagonal block resting on the table, with the block remaining on the supporting surface."}, {"label": "goal", "start_step": 472, "end_step": 642, "id": "9ef98c7d-1019-4206-9659-12aef919ad89"}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air to position it directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 525, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moves the block downward to fit it onto the rod to form the assembly connection."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, fingers opening as the block tilts onto the base surface."}, {"label": "goal", "start_step": 643, "end_step": 762, "id": "07c15093-719b-4792-bbc2-529607dccf38"}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves downward with empty palm, approaching the white hexagonal block placed on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, fingers adjusting and closing to establish a grip on the block."}, {"label": "goal", "start_step": 763, "end_step": 906, "id": "d1dfbf20-1397-474b-aefb-33989c99c265"}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to the position directly above the leftmost purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod, makes small positional and rotational adjustments, and lowers the block to fit onto the rod for nesting assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the white hexagonal block fitted on the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 907, "end_step": 1011, "id": "c873f589-dcd1-404a-951a-70cf0ac4ac50"}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand moves vertically upward with the grasped white hexagonal block, lifting it completely off the rightmost purple peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally to the table area adjacent to the right side of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 967, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the table surface, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves empty toward the white hexagonal block positioned in front-right of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes and adjusts its fingers to establish a grasp on the white hexagonal block on the table surface in front-right of the wooden base."}, {"label": "goal", "start_step": 1012, "end_step": 1143, "id": "ac471bd6-dea4-4b03-91e5-0410ff78f05e"}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the target purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple vertical rod, lowers the block to fit snugly onto the rod, and opens fingers to release the block resting on the rod."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the front green hexagonal block on the table, staying empty before contacting the target block."}, {"label": "goal", "start_step": 1144, "end_step": 1305, "id": "e892daff-db5e-402f-aaa0-2b95fd8e26ef"}, {"label": "subtasks", "start_step": 1200, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table, adjusting finger positions repeatedly to close around the block and form a grip."}, {"label": "goal", "start_step": 1306, "end_step": 1494, "id": "4bd4ef51-1924-479d-8004-49185a367535"}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward and leftward toward the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg on the wooden base and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1372, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place_release: Right hand holds the white cylindrical block, places it onto the purple rod of the wooden stacking base, releasing the block as it rests stably on the rod."}, {"label": "goal", "start_step": 1495, "end_step": 1632, "id": "37c7266c-563d-4567-82bd-a0286ef97cf6"}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned next to the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact points to establish a stable grasp while the block remains on the table surface."}, {"label": "goal", "start_step": 1633, "end_step": 1797, "id": "1bdc5cab-6945-4c25-967e-e63b1ac967a2"}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1688, "end_step": 1784, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the assembly and lowers it to fit onto the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place_release: Right hand places the white hexagonal block onto the top of the green block on the wooden assembly base, opening fingers to release the block."}, {"label": "goal", "start_step": 1798, "end_step": 1896, "id": "6e29ac37-71f3-4121-b424-8980bffc2f23"}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves empty downwards and rightwards toward the white hexagonal block resting on the table near the assembly base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to establish a grip on the block."}, {"label": "goal", "start_step": 1897, "end_step": 2046, "id": "e9af571f-bbf7-4af2-a7d6-2c5b42cff2fa"}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward off the dark table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward to the position above the empty slot on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate_release: Right hand aligns the white hexagonal block with the vertical peg at the empty slot on the wooden base, lowers it to fit onto the peg and rest on the base, releases fingers to let go of the block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: retreat: Right hand moves empty away from the placed block toward the right side of the workspace."}, {"label": "goal", "start_step": 2047, "end_step": 2136, "id": "d62fa24d-973f-4347-bc84-4b9e8fecd984"}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves downward from the upper right position toward the white hexagonal nut on the dark table surface, with fingers held open as it approaches the target."}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger contact positions to form a grip while the nut remains resting on the table."}, {"label": "goal", "start_step": 2137, "end_step": 2286, "id": "acc8b8bb-ae66-48bb-994a-822f1be6de69"}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving it upward and leftward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack, fitting the block onto the rod as it moves downward."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place: Right hand lowers the white hexagonal block further until it rests stably on the underlying block of the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2294, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple rod of the wooden rack without observable movement."}, {"label": "goal", "start_step": 2287, "end_step": 2391, "id": "0be581ca-d791-4656-967a-5a758c40a6f4"}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: release_reach: Right hand releases the light purple cylinder on the wooden base and moves empty diagonally downward and rightward toward the green cube on the black work surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand makes contact with the green cube, with fingers curling and adjusting position to establish a grasp on the cube."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand lifts the gripped green block upward until it fully leaves the black table surface."}, {"label": "goal", "start_step": 2392, "end_step": 2838, "id": "b2a0e8d4-c89a-45ce-8aa2-21e50b78338d"}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand carries the green block upward and leftward to the position directly above the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2460, "end_step": 2647, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the green block with the top of the white bottle, making small positional adjustments to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2648, "end_step": 2691, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reorient: Right hand slightly lifts the misaligned green block and rotates it slightly to adjust its orientation for proper fitting."}, {"label": "subtasks", "start_step": 2692, "end_step": 2834, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the reoriented green block with the top of the white bottle and fits it securely onto the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: release: Right hand opens its fingers to release the green block, leaving it stably placed on the white bottle."}, {"label": "home", "start_step": 2877, "end_step": 2907, "id": "G_DnyrfZFnQjP6tVvqLCu"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves from the right side of the workspace toward the green hexagonal block adjacent to the wooden peg base, holding fingers in an extended open position while approaching the target."}, {"label": "subtasks", "start_step": 105, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block near the wooden peg base, making small finger and wrist adjustments to establish grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 231, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg to fit the block onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place: Right hand moves the green hexagonal block downward along the purple peg until it rests stably on the wooden base surface."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal block on the left purple peg to establish a stable grip."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until it is completely separated from the purple peg on the pegboard."}, {"label": "subtasks", "start_step": 360, "end_step": 374, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand moves the grasped white hexagonal block downward to a position directly above the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place: Right hand lowers the grasped white hexagonal block onto the black table surface, making slight adjustments until the block is stably supported by the table."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: hold: Right hand holds the white hexagonal block steadily on the black table surface with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the white hexagonal block resting on the table, with the block remaining on the supporting surface."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 510, "end_step": 524, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air to position it directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 525, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, moves the block downward to fit it onto the rod to form the assembly connection."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, fingers opening as the block tilts onto the base surface."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves downward with empty palm, approaching the white hexagonal block placed on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand makes contact with the front white hexagonal block, fingers adjusting and closing to establish a grip on the block."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and moves it upward to the position directly above the leftmost purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod, makes small positional and rotational adjustments, and lowers the block to fit onto the rod for nesting assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand adjusts its finger positions to form a stable grasp on the white hexagonal block fitted on the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand moves vertically upward with the grasped white hexagonal block, lifting it completely off the rightmost purple peg."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand carries the lifted white hexagonal block horizontally to the table area adjacent to the right side of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 967, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place_release: Right hand lowers the white hexagonal block onto the table surface, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 968, "end_step": 981, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves empty toward the white hexagonal block positioned in front-right of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes and adjusts its fingers to establish a grasp on the white hexagonal block on the table surface in front-right of the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to the position directly above the target purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple vertical rod, lowers the block to fit snugly onto the rod, and opens fingers to release the block resting on the rod."}, {"label": "subtasks", "start_step": 1140, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the front green hexagonal block on the table, staying empty before contacting the target block."}, {"label": "subtasks", "start_step": 1200, "end_step": 1319, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand makes contact with the front green hexagonal block on the table, adjusting finger positions repeatedly to close around the block and form a grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward and leftward toward the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical peg on the wooden base and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1372, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place_release: Right hand holds the white cylindrical block, places it onto the purple rod of the wooden stacking base, releasing the block as it rests stably on the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned next to the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1649, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact points to establish a stable grasp while the block remains on the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward to position above the purple rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1688, "end_step": 1784, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the assembly and lowers it to fit onto the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 1785, "end_step": 1821, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place_release: Right hand places the white hexagonal block onto the top of the green block on the wooden assembly base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 1822, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves empty downwards and rightwards toward the white hexagonal block resting on the table near the assembly base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1912, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward off the dark table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and leftward to the position above the empty slot on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate_release: Right hand aligns the white hexagonal block with the vertical peg at the empty slot on the wooden base, lowers it to fit onto the peg and rest on the base, releases fingers to let go of the block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: retreat: Right hand moves empty away from the placed block toward the right side of the workspace."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reach: Right hand moves downward from the upper right position toward the white hexagonal nut on the dark table surface, with fingers held open as it approaches the target."}, {"label": "subtasks", "start_step": 2092, "end_step": 2151, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger contact positions to form a grip while the nut remains resting on the table."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving it upward and leftward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden rack, fitting the block onto the rod as it moves downward."}, {"label": "subtasks", "start_step": 2198, "end_step": 2219, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: place: Right hand lowers the white hexagonal block further until it rests stably on the underlying block of the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2294, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: hold: Right hand holds the white hexagonal block seated on the purple rod of the wooden rack without observable movement."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: release_reach: Right hand releases the light purple cylinder on the wooden base and moves empty diagonally downward and rightward toward the green cube on the black work surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: grasp: Right hand makes contact with the green cube, with fingers curling and adjusting position to establish a grasp on the cube."}, {"label": "subtasks", "start_step": 2385, "end_step": 2414, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: lift: Right hand lifts the gripped green block upward until it fully leaves the black table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: transport: Right hand carries the green block upward and leftward to the position directly above the white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2460, "end_step": 2647, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the green block with the top of the white bottle, making small positional adjustments to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2648, "end_step": 2691, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: reorient: Right hand slightly lifts the misaligned green block and rotates it slightly to adjust its orientation for proper fitting."}, {"label": "subtasks", "start_step": 2692, "end_step": 2834, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: mate: Right hand aligns the reoriented green block with the top of the white bottle and fits it securely onto the bottle."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace, maintaining a static posture without moving or contacting any objects. | Right hand: release: Right hand opens its fingers to release the green block, leaving it stably placed on the white bottle."}], "episode_index": 10}
+{"source_uid": "05b78e749ea1556e", "num_frames": 2898, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white annular part on the wooden board."}, {"label": "goal", "start_step": 0, "end_step": 213, "id": "8f753365-d3ae-4ad5-98f2-a7ebc7d568e3"}, {"label": "valid", "start_step": 0, "end_step": 2867, "id": "7Ils49AEzxR6N4R8jEnNc"}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white annular part on the purple rod with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white annular part off the purple rod while moving leftward to the top of the leftmost green cube on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white annular part with the leftmost green cube by aligning and inserting it into the cube's central hole."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, fingers closing to form a stable grip."}, {"label": "goal", "start_step": 214, "end_step": 345, "id": "17ffc716-9215-4308-8b7d-b9023a499610"}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the area above the middle purple peg."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the green hexagonal block on the peg."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 346, "end_step": 471, "id": "0b63c421-686a-4e65-a833-d642a9b705a2"}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach toward the leftmost white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table surface with fingers closing around the object."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 472, "end_step": 726, "id": "9b514351-bda3-459d-a402-dc8cb7a7b981"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the tabletop and transports it upward to the area above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal part with the purple peg and fits the part down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 548, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod above the green base block on the wooden board."}, {"label": "goal", "start_step": 727, "end_step": 870, "id": "dbc2e8d3-2aa7-4bad-93ed-46bb7e72cf46"}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to secure the grip."}, {"label": "goal", "start_step": 871, "end_step": 1041, "id": "623da2f7-b380-47fe-ae59-0f62cb3306f7"}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the peg board with purple pegs."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the right purple peg and releases its grip."}, {"label": "goal", "start_step": 1042, "end_step": 1152, "id": "8fed3cda-5ba5-4931-9693-24878ef462bf"}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1153, "end_step": 1281, "id": "4504c8d0-95d4-479b-914a-80dabb5f389d"}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table surface and transports it upward to the position right above the purple peg."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the purple peg by aligning the block's hole with the peg and pressing it down onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg by opening its fingers, separating from the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper building block set toward the green hollow block on the table."}, {"label": "goal", "start_step": 1282, "end_step": 1386, "id": "ccb3fbb4-1bba-483e-8a80-7569a6736a09"}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green hollow block on the table and closes fingers to grasp it with slight adjustments."}, {"label": "goal", "start_step": 1387, "end_step": 1539, "id": "9cd201de-c016-4038-81c5-03dc74851021"}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it to the top of the vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the vertical peg on the wooden base by lowering and aligning the block's hole with the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the vertical peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on top of the green block of the upper stacked structure, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1540, "end_step": 1647, "id": "4b269527-8427-422a-93e3-e998500e2abd"}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block and adjusting the grip."}, {"label": "goal", "start_step": 1648, "end_step": 1812, "id": "cba11115-6648-4676-9f50-830abac2af82"}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal object off the table and moves it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal object with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1799, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal object on the purple rod without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on top of the block tower, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1813, "end_step": 1962, "id": "174097a2-3f38-4cd1-88e7-6683cf7f9a1c"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip while the block stays on the table surface."}, {"label": "goal", "start_step": 1963, "end_step": 2127, "id": "7494a133-98e5-41b8-94a9-b797a3421c16"}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and fits the block down onto the rod to complete nesting assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 2128, "end_step": 2241, "id": "18a04304-022f-437c-bf66-b91cf5c78093"}, {"label": "subtasks", "start_step": 2138, "end_step": 2181, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right toward the white block on the black table surface."}, {"label": "subtasks", "start_step": 2182, "end_step": 2257, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white block on the black table surface with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 2242, "end_step": 2454, "id": "d25fb54f-9a48-4c66-bc5b-86ff30951631"}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it toward the wooden tray with the purple rod."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod on the tray and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block down onto the wooden tray until it is supported by the tray surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2444, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white block on the purple rod of the tray without moving."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the purple component down into the white block on the wooden base and releases it."}, {"label": "goal", "start_step": 2455, "end_step": 2574, "id": "dec816b0-0ad7-4c99-9d24-083ede352632"}, {"label": "subtasks", "start_step": 2475, "end_step": 2511, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cube on the right side of the table."}, {"label": "subtasks", "start_step": 2512, "end_step": 2534, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2535, "end_step": 2564, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2565, "end_step": 2654, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2575, "end_step": 2826, "id": "c96b1883-b5c1-4cc0-befc-cca752ef5aa6"}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward off the dark table surface."}, {"label": "subtasks", "start_step": 2670, "end_step": 2707, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block upward and leftward to the position above the white bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2708, "end_step": 2834, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and lowers the green block onto the white bottle with a purple top on the wooden rack to complete assembly, then releases the green block."}, {"label": "home", "start_step": 2868, "end_step": 2897, "id": "YdkVZt0rEkjxKZNKGB034"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the white annular part on the wooden board."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white annular part on the purple rod with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 98, "end_step": 111, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white annular part off the purple rod while moving leftward to the top of the leftmost green cube on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white annular part with the leftmost green cube by aligning and inserting it into the cube's central hole."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 232, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to the area above the middle purple peg."}, {"label": "subtasks", "start_step": 255, "end_step": 291, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 292, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 322, "end_step": 344, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the green hexagonal block on the peg."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 397, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach toward the leftmost white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table surface with fingers closing around the object."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 465, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the tabletop and transports it upward to the area above the purple peg on the wooden board."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal part with the purple peg and fits the part down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 548, "end_step": 719, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 757, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod above the green base block on the wooden board."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 891, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to secure the grip."}, {"label": "subtasks", "start_step": 892, "end_step": 921, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward toward the peg board with purple pegs."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the leftmost purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 960, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the right purple peg and releases its grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1095, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1162, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table surface and transports it upward to the position right above the purple peg."}, {"label": "subtasks", "start_step": 1192, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the purple peg by aligning the block's hole with the peg and pressing it down onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the purple peg by opening its fingers, separating from the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper building block set toward the green hollow block on the table."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green hollow block on the table and closes fingers to grasp it with slight adjustments."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it to the top of the vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the vertical peg on the wooden base by lowering and aligning the block's hole with the peg."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the vertical peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on top of the green block of the upper stacked structure, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1560, "end_step": 1597, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block and adjusting the grip."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal object off the table and moves it upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow hexagonal object with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1799, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow hexagonal object on the purple rod without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on top of the block tower, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right towards the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod and fits the block down onto the rod to complete nesting assembly."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 2138, "end_step": 2181, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right toward the white block on the black table surface."}, {"label": "subtasks", "start_step": 2182, "end_step": 2257, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white block on the black table surface with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 2258, "end_step": 2294, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it toward the wooden tray with the purple rod."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod on the tray and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block down onto the wooden tray until it is supported by the tray surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2444, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white block on the purple rod of the tray without moving."}, {"label": "subtasks", "start_step": 2445, "end_step": 2474, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the purple component down into the white block on the wooden base and releases it."}, {"label": "subtasks", "start_step": 2475, "end_step": 2511, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cube on the right side of the table."}, {"label": "subtasks", "start_step": 2512, "end_step": 2534, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2535, "end_step": 2564, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2565, "end_step": 2654, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward off the dark table surface."}, {"label": "subtasks", "start_step": 2670, "end_step": 2707, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block upward and leftward to the position above the white bottle with a purple top on the wooden rack."}, {"label": "subtasks", "start_step": 2708, "end_step": 2834, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns and lowers the green block onto the white bottle with a purple top on the wooden rack to complete assembly, then releases the green block."}], "episode_index": 11}
+{"source_uid": "68cfb8e72166c02f", "num_frames": 3920, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white and green block on the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 345, "id": "b2bcd226-cef7-4700-bec4-6d46141d7a5c"}, {"label": "valid", "start_step": 0, "end_step": 3882, "id": "RUI9dS_BZlxJlFCdlvpqC"}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white and green block on the leftmost purple rod, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 158, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white and green block upwards away from the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 344, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the grasped white and green block with the lower purple rod in front of the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it to the position above the target purple rod on the wooden base."}, {"label": "goal", "start_step": 346, "end_step": 516, "id": "6d461ff7-5132-46db-98ac-1e17435cd326"}, {"label": "subtasks", "start_step": 375, "end_step": 509, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand aligns the green block with the purple rod, inserts it onto the rod and releases the grip on the block."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 517, "end_step": 651, "id": "249c1aa3-fdf1-4be8-8897-5ccac07cf64e"}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 711, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 652, "end_step": 894, "id": "34b28562-7d9d-43ec-a948-6ab875123e1a"}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it towards the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 884, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the purple cylindrical post to secure its position, with minor adjustments to the hand posture."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white block onto the purple vertical post and releases the block."}, {"label": "goal", "start_step": 895, "end_step": 1014, "id": "cd2130f3-8950-478f-8ac9-2f91e40fac44"}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 1034, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1015, "end_step": 1308, "id": "7ea73b45-78c0-40c6-9853-4a0497345cce"}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the tabletop and transports it towards the wooden base with purple pillars."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cubic block with the target purple pillar on the wooden base and pushes it down to complete fitting."}, {"label": "subtasks", "start_step": 1110, "end_step": 1304, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cubic block fitted on the purple pillar without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post on the wooden base."}, {"label": "goal", "start_step": 1309, "end_step": 1440, "id": "024dc969-fa6f-48ad-8465-ea534564c81c"}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1395, "end_step": 1469, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 1441, "end_step": 1617, "id": "dbdb73a2-7f1e-46e9-960d-2854f399f45a"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1604, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green cube on the black table."}, {"label": "goal", "start_step": 1618, "end_step": 1740, "id": "dab5a8d1-83fd-4eee-b56a-52ddc4dde76d"}, {"label": "subtasks", "start_step": 1665, "end_step": 1769, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table, with slight grip adjustment."}, {"label": "goal", "start_step": 1741, "end_step": 1971, "id": "72264c6c-2a90-48a5-9e36-178f5712a17c"}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block completely off the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the target rod on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1964, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the target rod, inserts it down onto the rod and adjusts to stable position."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hollow block placed on the table."}, {"label": "goal", "start_step": 1972, "end_step": 2082, "id": "ff84c5ed-7a73-44d8-a0b1-320cff46e395"}, {"label": "subtasks", "start_step": 2010, "end_step": 2107, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches the white hollow block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2083, "end_step": 2358, "id": "9f489c54-23df-49e6-86c4-18f3a8a01d8a"}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2354, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylinder onto the stacked blocks on the wooden base."}, {"label": "goal", "start_step": 2359, "end_step": 2511, "id": "d432b949-0f66-414e-bd47-c3c626d4bada"}, {"label": "subtasks", "start_step": 2385, "end_step": 2467, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white cylinder on the tabletop to the right of the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2534, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches the white cylinder on the tabletop and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 2512, "end_step": 2754, "id": "19771aa0-4c83-4f9c-ba2b-3061a61a3678"}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylindrical block vertically up from the black table surface, making it leave the support surface."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white cylindrical block horizontally above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2580, "end_step": 2684, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by inserting the rod into the central hole of the block."}, {"label": "subtasks", "start_step": 2685, "end_step": 2744, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple rod without any movement."}, {"label": "subtasks", "start_step": 2745, "end_step": 2804, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed on the right of the table."}, {"label": "goal", "start_step": 2755, "end_step": 2880, "id": "e34e6e31-9c1b-43eb-8c09-760f77e6b985"}, {"label": "subtasks", "start_step": 2805, "end_step": 2879, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 2880, "end_step": 2901, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}, {"label": "goal", "start_step": 2881, "end_step": 3204, "id": "1a6caabb-f2a3-4e3a-a83b-21aed163b062"}, {"label": "subtasks", "start_step": 2902, "end_step": 2939, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the wooden rack with multiple blocks."}, {"label": "subtasks", "start_step": 2940, "end_step": 2984, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the vacant position of the wooden rack."}, {"label": "subtasks", "start_step": 2985, "end_step": 3194, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand adjusts and mates the white cylindrical block with the corresponding position on the wooden rack to complete assembly."}, {"label": "subtasks", "start_step": 3195, "end_step": 3231, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder placed on the wooden tray."}, {"label": "goal", "start_step": 3205, "end_step": 3336, "id": "8dd613cc-9e2f-493b-a7c6-8291c71ae35e"}, {"label": "subtasks", "start_step": 3232, "end_step": 3269, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green cubic block on the right side of the table surface."}, {"label": "subtasks", "start_step": 3270, "end_step": 3359, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 3337, "end_step": 3810, "id": "e482cd08-30db-44e0-af06-5e60761f62ed"}, {"label": "subtasks", "start_step": 3360, "end_step": 3381, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block upwards off the black table surface."}, {"label": "subtasks", "start_step": 3382, "end_step": 3411, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the target white cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 3412, "end_step": 3607, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the top of the white cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 3608, "end_step": 3794, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the white cylinder to fix it in place."}, {"label": "subtasks", "start_step": 3795, "end_step": 3809, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block that is fixed on the white cylinder."}, {"label": "subtasks", "start_step": 3810, "end_step": 3824, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats away from the green block position."}, {"label": "home", "start_step": 3883, "end_step": 3919, "id": "enRYWPUnH8Sz6hn7ywYOc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white and green block on the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white and green block on the leftmost purple rod, adjusting the grip to stabilize the block."}, {"label": "subtasks", "start_step": 158, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white and green block upwards away from the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 344, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the grasped white and green block with the lower purple rod in front of the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 375, "end_step": 509, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_release: Right hand aligns the green block with the purple rod, inserts it onto the rod and releases the grip on the block."}, {"label": "subtasks", "start_step": 510, "end_step": 554, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 584, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 711, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it towards the purple cylindrical post on the wooden base."}, {"label": "subtasks", "start_step": 742, "end_step": 884, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the purple cylindrical post to secure its position, with minor adjustments to the hand posture."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white block onto the purple vertical post and releases the block."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 1034, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the tabletop and transports it towards the wooden base with purple pillars."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cubic block with the target purple pillar on the wooden base and pushes it down to complete fitting."}, {"label": "subtasks", "start_step": 1110, "end_step": 1304, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cubic block fitted on the purple pillar without moving."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1395, "end_step": 1469, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1604, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green cube on the black table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1769, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block completely off the black table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1799, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the target rod on the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1964, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the target rod, inserts it down onto the rod and adjusts to stable position."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hollow block placed on the table."}, {"label": "subtasks", "start_step": 2010, "end_step": 2107, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches the white hollow block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2354, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylinder onto the stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 2385, "end_step": 2467, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white cylinder on the tabletop to the right of the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2534, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches the white cylinder on the tabletop and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylindrical block vertically up from the black table surface, making it leave the support surface."}, {"label": "subtasks", "start_step": 2550, "end_step": 2579, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white cylindrical block horizontally above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2580, "end_step": 2684, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by inserting the rod into the central hole of the block."}, {"label": "subtasks", "start_step": 2685, "end_step": 2744, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple rod without any movement."}, {"label": "subtasks", "start_step": 2745, "end_step": 2804, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed on the right of the table."}, {"label": "subtasks", "start_step": 2805, "end_step": 2879, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 2880, "end_step": 2901, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the black table surface."}, {"label": "subtasks", "start_step": 2902, "end_step": 2939, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the wooden rack with multiple blocks."}, {"label": "subtasks", "start_step": 2940, "end_step": 2984, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the vacant position of the wooden rack."}, {"label": "subtasks", "start_step": 2985, "end_step": 3194, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand adjusts and mates the white cylindrical block with the corresponding position on the wooden rack to complete assembly."}, {"label": "subtasks", "start_step": 3195, "end_step": 3231, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white cylinder placed on the wooden tray."}, {"label": "subtasks", "start_step": 3232, "end_step": 3269, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the green cubic block on the right side of the table surface."}, {"label": "subtasks", "start_step": 3270, "end_step": 3359, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3360, "end_step": 3381, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block upwards off the black table surface."}, {"label": "subtasks", "start_step": 3382, "end_step": 3411, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to the position above the target white cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 3412, "end_step": 3607, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the top of the white cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 3608, "end_step": 3794, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the white cylinder to fix it in place."}, {"label": "subtasks", "start_step": 3795, "end_step": 3809, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block that is fixed on the white cylinder."}, {"label": "subtasks", "start_step": 3810, "end_step": 3824, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand retreats away from the green block position."}], "episode_index": 12}
+{"source_uid": "205a570a41ce88ff", "num_frames": 2722, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves from its initial upper right position toward the green hexagonal block near the left side of the wooden assembly base, with fingers held extended."}, {"label": "goal", "start_step": 0, "end_step": 171, "id": "83a251a5-1dc5-4302-981f-616e811f90a0"}, {"label": "valid", "start_step": 0, "end_step": 2688, "id": "fxW1YSTOntrxxj6E4oYuF"}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the target block adjacent to the assembly base, adjusting wrist orientation and finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the gripped block steadily near the assembly base, with no visible movement of the hand, fingers or the grasped block."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the black table, making small finger adjustments to form a stable grip."}, {"label": "goal", "start_step": 172, "end_step": 405, "id": "a76b5602-6669-402f-b888-e8124efbb13c"}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift: Right hand moves vertically upward while gripping the green hexagonal block, lifting the block completely away from the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally over the workspace, positioning the block directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the held green hexagonal block with the purple peg on the wooden base, guiding the block down onto the peg with small positional adjustments to seat it properly."}, {"label": "subtasks", "start_step": 308, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement, rotation, or grip adjustment."}, {"label": "subtasks", "start_step": 405, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block seated on the purple peg, breaking contact with the block."}, {"label": "goal", "start_step": 406, "end_step": 591, "id": "42e9ff54-b8da-46c2-a36d-8580d6189fb2"}, {"label": "subtasks", "start_step": 412, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward toward the front-left white hexagonal block on the table in front of the wooden peg rack, with fingers kept open."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making minor finger adjustments to establish a secure grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the white hexagonal block steadily, with no visible movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal nut placed on the black table."}, {"label": "goal", "start_step": 592, "end_step": 738, "id": "8995acea-3fd1-48d2-a399-06edfdc2659a"}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: transport: Right hand moves the lifted white hexagonal nut to the position directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 645, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut to fit onto the post above the existing green hexagonal nut."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place_release: Right hand places the white hexagonal blocks onto the purple vertical posts on the wooden base, releasing its grip to leave the blocks stably supported by the posts."}, {"label": "goal", "start_step": 739, "end_step": 855, "id": "37d24e4b-b6f5-4848-b888-291e9f7a4f52"}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the front white hexagonal nut on the black table surface, remaining empty with no contact to the target nut."}, {"label": "subtasks", "start_step": 795, "end_step": 877, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the table, making minor adjustments to finger and wrist positions to establish a stable grip on the nut."}, {"label": "goal", "start_step": 856, "end_step": 981, "id": "5a6974cd-1f46-4ceb-a434-e0bd955cfb8e"}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to position above the leftmost purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 900, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, makes slight positional adjustments, and fits the block down onto the peg to establish the nesting connection."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns and fits it onto the purple rod on the wooden base, then opens fingers to release the assembled block."}, {"label": "goal", "start_step": 982, "end_step": 1068, "id": "efbab8dd-a53c-4be6-b7b3-5127deccc93d"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward empty towards the white hexagonal block placed in front of the wooden base, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table surface, fingers close and make slight adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 1069, "end_step": 1371, "id": "747ca5c2-d0d1-44f9-95fe-ee5cb97d4d75"}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the supporting surface and moves it upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand makes slight positional and rotational adjustments to align the inner hole of the white hexagonal block with the purple rod, then slides the block down the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the purple peg of the wooden base, releases the block as it becomes stably supported by the peg."}, {"label": "goal", "start_step": 1372, "end_step": 1473, "id": "66829147-6ff5-4a6e-ab40-ad5042da56f6"}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block resting on the black table surface in front of the wooden base, approaching until fingers make contact with the block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the contacted green hexagonal block on the table, makes small adjustments to finger positions to establish a stable grip on the block."}, {"label": "goal", "start_step": 1474, "end_step": 1611, "id": "742e13e4-71cb-452e-90b0-1227b6aaad3c"}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward to the position directly above the purple post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and lowers the block to fit onto the post to establish the assembly connection."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place: Right hand slides the green hexagonal block down along the purple post until the block rests stably on the wooden base of the assembly stand."}, {"label": "subtasks", "start_step": 1605, "end_step": 1657, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward and rightward from the upper block assembly area to approach the white hexagonal nut on the dark table surface adjacent to the green block."}, {"label": "goal", "start_step": 1612, "end_step": 1740, "id": "a9512f1f-a788-4100-a880-40e4fae7c23b"}, {"label": "subtasks", "start_step": 1658, "end_step": 1754, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the dark table surface to establish a grip on the nut."}, {"label": "goal", "start_step": 1741, "end_step": 1857, "id": "48fc5542-efca-4b4d-a455-8cb2e4c918f4"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the work surface and transports it upward to the position directly above the target green post on the wooden block base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target green post and lowers the block to fit securely onto the post."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the mated white hexagonal block on the green post without any observable movement."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the purple rod on the stacked wooden block assembly, opens fingers to release the block."}, {"label": "goal", "start_step": 1858, "end_step": 1941, "id": "502d5072-72fc-4409-8868-c6f0eb9c67a5"}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves empty from above the stacked block assembly toward the white hexagonal block resting on the right tabletop, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand contacts the white hexagonal block on the tabletop, closes fingers around the block with minor positional adjustments to establish grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the black table surface."}, {"label": "goal", "start_step": 1942, "end_step": 2106, "id": "dd9c2d6a-a848-4be8-8e9d-de8df25b29eb"}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: transport: Right hand moves the grasped white hexagonal nut upward through the air to position it directly over the purple vertical rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2084, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod and slides the nut downward along the rod to fit it onto the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, fully separating from the nut as it rests at the base of the purple rod."}, {"label": "subtasks", "start_step": 2100, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves from the area above the stacked block set toward the white hexagonal nut on the dark table surface, with fingers slightly extended."}, {"label": "goal", "start_step": 2107, "end_step": 2190, "id": "bc9f4ee6-5f45-4607-a804-34ffbf61de23"}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making small finger adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "goal", "start_step": 2191, "end_step": 2343, "id": "6e868647-bdd1-4611-9d18-a6c1b540cae3"}, {"label": "subtasks", "start_step": 2212, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate_place: Right hand aligns the white hexagonal block with the empty rack slot and lowers it into the slot until the block is stably supported by the rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2339, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the seated white hexagonal block in the rack slot without moving."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block and moves slightly away from the block."}, {"label": "goal", "start_step": 2344, "end_step": 2478, "id": "f97b75d3-35e2-4df6-9508-5e0569517699"}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward and left toward the green cube on the black table surface with fingers spread, without contacting the cube."}, {"label": "subtasks", "start_step": 2385, "end_step": 2451, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand makes contact with the top of the green cube, adjusts finger positions and closes fingers to form a stable grasp, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the green cube on the black table surface without observable movement of the hand, fingers or the cube."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand adjusts grip on the green block resting on the dark table surface, fingers slightly tightening around the block."}, {"label": "goal", "start_step": 2479, "end_step": 2646, "id": "023485f6-c1cb-433e-b765-98e8084dba00"}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the green block off the dark table surface and moves it upward and leftward to the position above the target cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 2550, "end_step": 2617, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand adjusts the position of the green block to align its central hole with the target white cylinder on the tray, slightly shifting the block to fit onto the cylinder top."}, {"label": "subtasks", "start_step": 2618, "end_step": 2639, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place: Right hand lowers the aligned green block along the target cylinder until the block rests stably on the cylinder and is supported by the tray structure."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: release: Right hand opens its fingers to release the stably placed green block, separating from the block surface."}, {"label": "home", "start_step": 2689, "end_step": 2721, "id": "NSoBs0r8zv5JFV_LdFLOF"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves from its initial upper right position toward the green hexagonal block near the left side of the wooden assembly base, with fingers held extended."}, {"label": "subtasks", "start_step": 82, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the target block adjacent to the assembly base, adjusting wrist orientation and finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the gripped block steadily near the assembly base, with no visible movement of the hand, fingers or the grasped block."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the black table, making small finger adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift: Right hand moves vertically upward while gripping the green hexagonal block, lifting the block completely away from the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally over the workspace, positioning the block directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the held green hexagonal block with the purple peg on the wooden base, guiding the block down onto the peg with small positional adjustments to seat it properly."}, {"label": "subtasks", "start_step": 308, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement, rotation, or grip adjustment."}, {"label": "subtasks", "start_step": 405, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: release: Right hand opens fingers to release the green hexagonal block seated on the purple peg, breaking contact with the block."}, {"label": "subtasks", "start_step": 412, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward toward the front-left white hexagonal block on the table in front of the wooden peg rack, with fingers kept open."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, making minor finger adjustments to establish a secure grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the white hexagonal block steadily, with no visible movement of the hand, fingers or the gripped block."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal nut placed on the black table."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: transport: Right hand moves the lifted white hexagonal nut to the position directly above the target purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 645, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post and lowers the nut to fit onto the post above the existing green hexagonal nut."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place_release: Right hand places the white hexagonal blocks onto the purple vertical posts on the wooden base, releasing its grip to leave the blocks stably supported by the posts."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward from the wooden assembly base toward the front white hexagonal nut on the black table surface, remaining empty with no contact to the target nut."}, {"label": "subtasks", "start_step": 795, "end_step": 877, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut on the table, making minor adjustments to finger and wrist positions to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the table surface and moves it upward to position above the leftmost purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 900, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, makes slight positional adjustments, and fits the block down onto the peg to establish the nesting connection."}, {"label": "subtasks", "start_step": 975, "end_step": 1011, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate_release: Right hand holds a white hexagonal block, aligns and fits it onto the purple rod on the wooden base, then opens fingers to release the assembled block."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward empty towards the white hexagonal block placed in front of the wooden base, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table surface, fingers close and make slight adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the supporting surface and moves it upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1364, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand makes slight positional and rotational adjustments to align the inner hole of the white hexagonal block with the purple rod, then slides the block down the rod to complete the assembly fit."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the purple peg of the wooden base, releases the block as it becomes stably supported by the peg."}, {"label": "subtasks", "start_step": 1402, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block resting on the black table surface in front of the wooden base, approaching until fingers make contact with the block."}, {"label": "subtasks", "start_step": 1432, "end_step": 1491, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the contacted green hexagonal block on the table, makes small adjustments to finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward to the position directly above the purple post on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple post and lowers the block to fit onto the post to establish the assembly connection."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place: Right hand slides the green hexagonal block down along the purple post until the block rests stably on the wooden base of the assembly stand."}, {"label": "subtasks", "start_step": 1605, "end_step": 1657, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward and rightward from the upper block assembly area to approach the white hexagonal nut on the dark table surface adjacent to the green block."}, {"label": "subtasks", "start_step": 1658, "end_step": 1754, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal nut on the dark table surface to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block completely off the work surface and transports it upward to the position directly above the target green post on the wooden block base."}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target green post and lowers the block to fit securely onto the post."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the mated white hexagonal block on the green post without any observable movement."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the purple rod on the stacked wooden block assembly, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves empty from above the stacked block assembly toward the white hexagonal block resting on the right tabletop, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand contacts the white hexagonal block on the tabletop, closes fingers around the block with minor positional adjustments to establish grip."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward off the black table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: transport: Right hand moves the grasped white hexagonal nut upward through the air to position it directly over the purple vertical rod on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2084, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple vertical rod and slides the nut downward along the rod to fit it onto the rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2099, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: release: Right hand opens its fingers to release the white hexagonal nut, fully separating from the nut as it rests at the base of the purple rod."}, {"label": "subtasks", "start_step": 2100, "end_step": 2151, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves from the area above the stacked block set toward the white hexagonal nut on the dark table surface, with fingers slightly extended."}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making small finger adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table surface without moving."}, {"label": "subtasks", "start_step": 2212, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position directly above the empty slot on the wooden block rack."}, {"label": "subtasks", "start_step": 2250, "end_step": 2287, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate_place: Right hand aligns the white hexagonal block with the empty rack slot and lowers it into the slot until the block is stably supported by the rack."}, {"label": "subtasks", "start_step": 2288, "end_step": 2339, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the seated white hexagonal block in the rack slot without moving."}, {"label": "subtasks", "start_step": 2340, "end_step": 2354, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: release_retreat: Right hand opens fingers to release the white hexagonal block and moves slightly away from the block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: reach: Right hand moves downward and left toward the green cube on the black table surface with fingers spread, without contacting the cube."}, {"label": "subtasks", "start_step": 2385, "end_step": 2451, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand makes contact with the top of the green cube, adjusts finger positions and closes fingers to form a stable grasp, with the cube remaining on the table surface."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: hold: Right hand holds the green cube on the black table surface without observable movement of the hand, fingers or the cube."}, {"label": "subtasks", "start_step": 2475, "end_step": 2504, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: grasp: Right hand adjusts grip on the green block resting on the dark table surface, fingers slightly tightening around the block."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: lift_transport: Right hand lifts the green block off the dark table surface and moves it upward and leftward to the position above the target cylinder on the wooden tray."}, {"label": "subtasks", "start_step": 2550, "end_step": 2617, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: mate: Right hand adjusts the position of the green block to align its central hole with the target white cylinder on the tray, slightly shifting the block to fit onto the cylinder top."}, {"label": "subtasks", "start_step": 2618, "end_step": 2639, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: place: Right hand lowers the aligned green block along the target cylinder until the block rests stably on the cylinder and is supported by the tray structure."}, {"label": "subtasks", "start_step": 2640, "end_step": 2654, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any operational objects, staying still for the entire segment. | Right hand: release: Right hand opens its fingers to release the stably placed green block, separating from the block surface."}], "episode_index": 13}
+{"source_uid": "b23f6bd450fa9d44", "num_frames": 2889, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the table, with slight upward movement. | Right hand: reach: Right hand moves from the right side of the table toward the front-left white hexagonal block on the wooden pegboard to approach the target."}, {"label": "goal", "start_step": 0, "end_step": 153, "id": "2397b2cf-1309-438d-ae68-57bafc7bc186"}, {"label": "valid", "start_step": 0, "end_step": 2853, "id": "S0h19bZ92UFOG1lbD5U9a"}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the front-left white hexagonal block on the wooden pegboard to approach the target."}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the front-left white hexagonal block on the wooden pegboard, with slight downward movement and grip adjustment to stabilize the hold."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, pulling it away from the purple peg."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 154, "end_step": 357, "id": "4610825b-c78e-4975-90c7-68aec2eefd1d"}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and fits the block onto the peg, with slight position adjustments during the process."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 358, "end_step": 477, "id": "1c0e2a9d-ffca-4c0e-b816-e4b80e29e1c0"}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 478, "end_step": 804, "id": "5d9d1fd3-1d9f-454b-94b9-131c9b238051"}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it to above the left front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the left front purple peg of the wooden base, pressing it down until it fits against the green block below."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple peg, with fingers opening and separating from the object."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the left front purple peg, moving right to above the middle front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the leftmost purple peg of the wooden base and releases it."}, {"label": "goal", "start_step": 805, "end_step": 924, "id": "14cbc050-f714-48bf-b72a-e29f11e23b29"}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the left part of the table."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left part of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left part of the table without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 925, "end_step": 1071, "id": "62812638-2d94-4dbe-b1d7-8d9e398feddd"}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and toward the wooden peg board."}, {"label": "subtasks", "start_step": 982, "end_step": 1064, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with a vertical peg on the wooden board and moves it downward to assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1072, "end_step": 1179, "id": "ccd3f254-0dfa-42a0-8661-0dfb6909edfa"}, {"label": "subtasks", "start_step": 1095, "end_step": 1169, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1180, "end_step": 1350, "id": "4ccdfef2-27e5-49ed-ad2c-fa257573ea4f"}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple vertical peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical peg, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block."}, {"label": "goal", "start_step": 1351, "end_step": 1455, "id": "a67ac341-84e5-4623-b78b-a42a6700b183"}, {"label": "subtasks", "start_step": 1365, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the rightmost purple rod of the building block set, with fingers opening and moving upward to separate from the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1456, "end_step": 1644, "id": "4e033e98-5d15-42cf-a3d9-80961a4492bd"}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward and leftward toward the wooden pegboard with white cylinders."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg on the pegboard and lowers it onto the peg for assembly."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the peg to push it further into position."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block on the purple rod of the wooden base, with fingers opening from closed state."}, {"label": "goal", "start_step": 1645, "end_step": 1803, "id": "e6afa545-4f49-4e71-9bcd-8f36ec8fd802"}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, with hand remaining empty."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1732, "end_step": 1799, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylinder on the right side of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1804, "end_step": 1950, "id": "7b1e65fa-8eb5-4c16-a975-a92c83538027"}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1934, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the peg on the wooden base by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the wooden base peg without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical piece onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1951, "end_step": 2040, "id": "79c59c21-f210-4b68-8c0d-e936ce56051b"}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the dark table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the dark table surface with fingers closing around it."}, {"label": "goal", "start_step": 2041, "end_step": 2319, "id": "e8d706dc-3313-48c6-8799-4a871424ccbb"}, {"label": "subtasks", "start_step": 2085, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block stationary on the table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2167, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack, aligning and lowering the block onto the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod of the wooden rack and releases the block."}, {"label": "goal", "start_step": 2320, "end_step": 2415, "id": "7095bd55-2499-441d-bad1-25011d7957ad"}, {"label": "subtasks", "start_step": 2340, "end_step": 2369, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical block on the black table surface, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 2416, "end_step": 2559, "id": "89aeddef-70af-4ecc-8789-05b60dbdf3d6"}, {"label": "subtasks", "start_step": 2438, "end_step": 2467, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2527, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 2528, "end_step": 2541, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylindrical block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2542, "end_step": 2549, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the white hollow cylindrical block on the purple peg."}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right from the area near the white cylinder rack towards the green cube on the table, with fingers extended."}, {"label": "goal", "start_step": 2560, "end_step": 2652, "id": "c0c0069a-711d-4c07-9fdc-3472b4adc4bf"}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2640, "end_step": 2669, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the right area of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2653, "end_step": 2838, "id": "8e6926c2-123b-43b5-b5c2-6f573f8c6045"}, {"label": "subtasks", "start_step": 2670, "end_step": 2684, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward off the table surface."}, {"label": "subtasks", "start_step": 2685, "end_step": 2714, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftward and upward to the position above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2715, "end_step": 2759, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the white peg by aligning the block hole with the peg and fitting it downward."}, {"label": "subtasks", "start_step": 2760, "end_step": 2834, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block downward to secure it on the peg and releases the block."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats rightward away from the green block on the rack."}, {"label": "home", "start_step": 2854, "end_step": 2888, "id": "CDoXZz3dsSeVMWKoqsHu0"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_posture: Left hand adjusts its posture at the left side of the table, with slight upward movement. | Right hand: reach: Right hand moves from the right side of the table toward the front-left white hexagonal block on the wooden pegboard to approach the target."}, {"label": "subtasks", "start_step": 22, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the front-left white hexagonal block on the wooden pegboard to approach the target."}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the front-left white hexagonal block on the wooden pegboard, with slight downward movement and grip adjustment to stabilize the hold."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, pulling it away from the purple peg."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and fits the block onto the peg, with slight position adjustments during the process."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green hexagonal block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and transports it to above the left front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the left front purple peg of the wooden base, pressing it down until it fits against the green block below."}, {"label": "subtasks", "start_step": 705, "end_step": 757, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal object on the purple peg, with fingers opening and separating from the object."}, {"label": "subtasks", "start_step": 758, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the left front purple peg, moving right to above the middle front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the leftmost purple peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the left part of the table."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left part of the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left part of the table without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 951, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward and toward the wooden peg board."}, {"label": "subtasks", "start_step": 982, "end_step": 1064, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with a vertical peg on the wooden board and moves it downward to assemble the block onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1169, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach_grasp: Right hand moves downward toward the white hexagonal block on the black table and grasps it."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple vertical peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical peg, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the white hexagonal block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the rightmost purple rod of the building block set, with fingers opening and moving upward to separate from the block."}, {"label": "subtasks", "start_step": 1372, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1432, "end_step": 1454, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1492, "end_step": 1529, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it upward and leftward toward the wooden pegboard with white cylinders."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg on the pegboard and lowers it onto the peg for assembly."}, {"label": "subtasks", "start_step": 1568, "end_step": 1619, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 1620, "end_step": 1634, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block downward along the peg to push it further into position."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block on the purple rod of the wooden base, with fingers opening from closed state."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface, with hand remaining empty."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1732, "end_step": 1799, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylinder on the right side of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder from the table and transports it toward the wooden peg base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1934, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the peg on the wooden base by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1935, "end_step": 1949, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder on the wooden base peg without moving."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates and releases the white cylindrical piece onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the dark table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 2085, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block stationary on the table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2167, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block leftward and upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2198, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod on the wooden rack, aligning and lowering the block onto the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 2340, "end_step": 2369, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 2415, "end_step": 2437, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical block on the black table surface, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2438, "end_step": 2467, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2527, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylindrical block with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 2528, "end_step": 2541, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hollow cylindrical block on the purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2542, "end_step": 2549, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the white hollow cylindrical block on the purple peg."}, {"label": "subtasks", "start_step": 2550, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down and right from the area near the white cylinder rack towards the green cube on the table, with fingers extended."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2640, "end_step": 2669, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the right area of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2670, "end_step": 2684, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward off the table surface."}, {"label": "subtasks", "start_step": 2685, "end_step": 2714, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block leftward and upward to the position above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2715, "end_step": 2759, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the white peg by aligning the block hole with the peg and fitting it downward."}, {"label": "subtasks", "start_step": 2760, "end_step": 2834, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block downward to secure it on the peg and releases the block."}, {"label": "subtasks", "start_step": 2835, "end_step": 2849, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats rightward away from the green block on the rack."}], "episode_index": 14}
+{"source_uid": "dcd3493123c83854", "num_frames": 2762, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the middle wooden base."}, {"label": "goal", "start_step": 0, "end_step": 258, "id": "7cf04397-765d-4ced-97b5-3cda786b7df7"}, {"label": "valid", "start_step": 0, "end_step": 2731, "id": "E_Mjeva4rS46ctSVhq_-W"}, {"label": "subtasks", "start_step": 82, "end_step": 284, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to contact the white cylindrical block and adjusts the grip posture to stabilize the grasp."}, {"label": "goal", "start_step": 259, "end_step": 462, "id": "9cc71443-e3f9-41cb-aa4d-80f413939104"}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block with the target purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the desktop, not contacting the object yet."}, {"label": "goal", "start_step": 463, "end_step": 606, "id": "43f7e7b2-252e-41ca-a014-f7d3ff3a3d2b"}, {"label": "subtasks", "start_step": 525, "end_step": 629, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the desktop, making small adjustments to the grip."}, {"label": "goal", "start_step": 607, "end_step": 765, "id": "e2f09dac-abf1-4a87-badc-5df73c958d53"}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 764, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand lowers the white hexagonal block onto the purple rod and presses it down to complete the assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white annular object onto the purple post on the wooden base and releases its grip on the object."}, {"label": "goal", "start_step": 766, "end_step": 891, "id": "3a6d19db-10a8-4cc4-93f7-39702af18259"}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 929, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hollow hexagonal ring on the black table."}, {"label": "goal", "start_step": 892, "end_step": 1137, "id": "2647b08f-9f6e-41c2-bf76-697eefbc1f3c"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and transports it towards the wooden peg rack at the upper right of the frame."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1124, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the aligned peg to fix it in position."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the small white block on the table next to the wooden peg base."}, {"label": "goal", "start_step": 1138, "end_step": 1248, "id": "a2342574-3e9f-4666-8714-900269564893"}, {"label": "subtasks", "start_step": 1170, "end_step": 1229, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches the small white block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the small white block on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing to secure the block."}, {"label": "goal", "start_step": 1249, "end_step": 1401, "id": "4efbcaaf-ee9c-49f9-966b-c0d8fdbb7943"}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the black tabletop."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering and aligning the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves down towards the green hexagonal block placed on the table."}, {"label": "goal", "start_step": 1402, "end_step": 1503, "id": "adec1b63-6fee-40b9-bf79-b319bcc8b0e7"}, {"label": "subtasks", "start_step": 1448, "end_step": 1537, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 1504, "end_step": 1662, "id": "c6b6591e-76ae-4e3c-99d4-21abc9e30e1f"}, {"label": "subtasks", "start_step": 1538, "end_step": 1597, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the upper position of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1598, "end_step": 1649, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1663, "end_step": 1779, "id": "18efb929-3257-46e5-bb03-727557d879c7"}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1799, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1780, "end_step": 1923, "id": "b368c931-26a6-494e-a741-0d1cb629edf6"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 1830, "end_step": 1919, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 1924, "end_step": 2049, "id": "e8c6814a-408e-486c-a277-664e4685549a"}, {"label": "subtasks", "start_step": 1972, "end_step": 2061, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table to the right of the wooden base."}, {"label": "goal", "start_step": 2050, "end_step": 2178, "id": "987368c0-2d10-4d76-8d47-cadab8c1718f"}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2100, "end_step": 2174, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod, inserting the rod through the block's hole and placing it onto the base."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 2179, "end_step": 2313, "id": "e2b63d02-892c-468c-8f49-de90d2fd2c1a"}, {"label": "subtasks", "start_step": 2235, "end_step": 2339, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 2314, "end_step": 2445, "id": "8c6352d1-ffaf-4518-b6dc-9d974b05b896"}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cube from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2378, "end_step": 2444, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cube with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 2445, "end_step": 2504, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green cube on the right part of the table without touching it."}, {"label": "goal", "start_step": 2446, "end_step": 2550, "id": "437a9352-93d6-442b-8c7a-5db91ee30d6b"}, {"label": "subtasks", "start_step": 2505, "end_step": 2571, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the green cube, closes fingers to adjust and form a grasp on the cube."}, {"label": "goal", "start_step": 2551, "end_step": 2697, "id": "6d96151d-467f-4c42-8c20-5cad90bb37bc"}, {"label": "subtasks", "start_step": 2572, "end_step": 2587, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up away from the table surface."}, {"label": "subtasks", "start_step": 2588, "end_step": 2617, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block towards the white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2669, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the top of the target white cylinder, adjusting position to complete fitting."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block, fingers open to separate from the block."}, {"label": "home", "start_step": 2732, "end_step": 2761, "id": "CE2ytdOXnSr6evhYweFcZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the middle wooden base."}, {"label": "subtasks", "start_step": 82, "end_step": 284, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to contact the white cylindrical block and adjusts the grip posture to stabilize the grasp."}, {"label": "subtasks", "start_step": 285, "end_step": 329, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 449, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green hexagonal block with the target purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 450, "end_step": 524, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the desktop, not contacting the object yet."}, {"label": "subtasks", "start_step": 525, "end_step": 629, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the desktop, making small adjustments to the grip."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 764, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand lowers the white hexagonal block onto the purple rod and presses it down to complete the assembly."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place_release: Right hand places the white annular object onto the purple post on the wooden base and releases its grip on the object."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hollow hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 832, "end_step": 929, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hollow hexagonal ring on the black table."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table and transports it towards the wooden peg rack at the upper right of the frame."}, {"label": "subtasks", "start_step": 960, "end_step": 1004, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1005, "end_step": 1124, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the aligned peg to fix it in position."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the small white block on the table next to the wooden peg base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1229, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand touches the small white block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the small white block on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers closing to secure the block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the black tabletop."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1394, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering and aligning the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1447, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves down towards the green hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1448, "end_step": 1537, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1538, "end_step": 1597, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the upper position of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1598, "end_step": 1649, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1731, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1799, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the wooden base with vertical pegs."}, {"label": "subtasks", "start_step": 1830, "end_step": 1919, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2061, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2100, "end_step": 2174, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod, inserting the rod through the block's hole and placing it onto the base."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2235, "end_step": 2339, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2340, "end_step": 2377, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cube from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2378, "end_step": 2444, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cube with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 2445, "end_step": 2504, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the green cube on the right part of the table without touching it."}, {"label": "subtasks", "start_step": 2505, "end_step": 2571, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the green cube, closes fingers to adjust and form a grasp on the cube."}, {"label": "subtasks", "start_step": 2572, "end_step": 2587, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block up away from the table surface."}, {"label": "subtasks", "start_step": 2588, "end_step": 2617, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block towards the white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 2618, "end_step": 2669, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the top of the target white cylinder, adjusting position to complete fitting."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the green block, fingers open to separate from the block."}], "episode_index": 15}
+{"source_uid": "7fc31e6669e5cbb8", "num_frames": 2811, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: idle: Right hand remains empty at the right side of the workspace without moving toward target objects."}, {"label": "goal", "start_step": 0, "end_step": 168, "id": "af4b312b-239d-4fb5-add3-38151e8616f5"}, {"label": "valid", "start_step": 0, "end_step": 2779, "id": "M1jwAWCcpg5T2SzEHfIVo"}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves left and downward toward the small white object in front of the wooden peg block, with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers around the small white object in front of the wooden peg block, making fine adjustments of fingers and wrist to establish a grasp, with the object staying on the table surface."}, {"label": "goal", "start_step": 169, "end_step": 315, "id": "9b1f21ba-65ba-4ba4-9fba-4c00d950545b"}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the work surface and moves it upward to the area above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple post, then fits the block onto the top of the post."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place: Right hand moves the green hexagonal block downward along the purple post until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the purple rod on the wooden assembly base, releases the block when the block is supported by the base."}, {"label": "goal", "start_step": 316, "end_step": 507, "id": "ba5030af-44e3-4fc7-879c-296a893d4130"}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the black table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusts finger positions and closes fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 435, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without visible movement or hand shape adjustment."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block resting on the table, adjusting grip to form a stable hold while the block remains on the table surface."}, {"label": "goal", "start_step": 508, "end_step": 690, "id": "c3101655-9c8b-489a-9092-13875f9af2e2"}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowering the block to fit onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 562, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple rod, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand moves down to place the white hexagonal block onto the purple peg on the wooden base, opening fingers to release the block."}, {"label": "goal", "start_step": 691, "end_step": 840, "id": "c9cb72a1-9da7-4902-95b0-163750594618"}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward toward the left front white hexagonal block on the dark table surface, with fingers slightly spread."}, {"label": "subtasks", "start_step": 765, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the left front white hexagonal block to form a stable grip."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand holds the left front white hexagonal block on the dark table surface without any visible movement."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers and adjusts grip to grasp the white hexagonal nut resting on the black table surface."}, {"label": "goal", "start_step": 841, "end_step": 996, "id": "05490fbf-a620-4174-bd9f-2116d82d0568"}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: transport: Right hand carries the white hexagonal nut through the air to the position directly above the target purple peg on the wooden block tray."}, {"label": "subtasks", "start_step": 900, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, moving the nut downward to fit it onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 982, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple peg, separating the hand from the nut."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand places the white hexagonal block onto the top of the stacked blocks on the purple rod and releases fingers to separate from the block."}, {"label": "goal", "start_step": 997, "end_step": 1134, "id": "9ec080ac-42ff-4015-82ad-14109ccd4285"}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward and rightward from the block stack toward the small white block on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts finger positions to close around and establish a grip on the small white block on the table."}, {"label": "goal", "start_step": 1135, "end_step": 1272, "id": "f31d0140-ce1c-45a5-9dc8-ae16de3ec454"}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position it directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand makes small positional adjustments to align the central opening of the white hexagonal block with the purple peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand lowers the held white hexagonal block along the purple rod to rest on the wooden base, opening fingers to release the supported block."}, {"label": "goal", "start_step": 1273, "end_step": 1380, "id": "613224e2-84b4-4131-8ea6-cd6092d2d91a"}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves empty downward toward the front green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts finger positions to close around the front green hexagonal block to establish a grip on the block."}, {"label": "goal", "start_step": 1381, "end_step": 1551, "id": "43cda51d-e8bb-4cfc-98ff-589a0df32ab1"}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift: Right hand lifts the firmly grasped green hexagonal block upward, raising it completely off the dark table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: transport: Right hand carries the lifted green block upward, moving it to a position directly above the purple vertical rod mounted on the wooden stand."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the purple rod, making small positional adjustments to fit the block over the rod end."}, {"label": "subtasks", "start_step": 1485, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place: Right hand moves the green block downward along the purple rod, lowering it until it rests on the supporting white component below on the wooden stand."}, {"label": "subtasks", "start_step": 1545, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 1552, "end_step": 1665, "id": "ad322447-e756-4d39-97b9-5dda35c3d4c3"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts its grip on the white hollow cylinder resting on the dark table surface to form a stable hold."}, {"label": "goal", "start_step": 1666, "end_step": 1797, "id": "93604c62-e5c0-4184-9bb1-4c3dfce2dddf"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the dark table surface and moves it upward to the position directly above the target rod on the green block of the wooden assembly base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the white hollow cylinder with the target rod and lowers it to fit the cylinder onto the rod during the assembly motion."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: release: Right hand releases the top white cylindrical block on the purple rod, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1798, "end_step": 1911, "id": "3b9d59d5-db2f-4d6b-ac6e-e676065ca7c8"}, {"label": "subtasks", "start_step": 1808, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves empty toward the small white hexagonal block adjacent to the wooden base on the table."}, {"label": "subtasks", "start_step": 1852, "end_step": 1927, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to establish a stable grasp while the block stays on the table surface."}, {"label": "goal", "start_step": 1912, "end_step": 2250, "id": "61c2e6a8-56c6-4cfa-a99d-add49353db88"}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and moves it upward toward the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1980, "end_step": 2167, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, adjusts position and orientation to fit the cylinder onto the rod with small fine movements."}, {"label": "subtasks", "start_step": 2168, "end_step": 2241, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand lowers the white hexagonal cylinder along the purple rod to rest on the wooden stand surface, opens fingers to release contact with the cylinder."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: idle: Right hand stays empty beside the wooden stand without noticeable movement."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface while remaining empty, approaching the target without making contact."}, {"label": "goal", "start_step": 2251, "end_step": 2364, "id": "3ddd9f03-6a71-40cf-962e-941b03a318a7"}, {"label": "subtasks", "start_step": 2272, "end_step": 2309, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand makes initial contact with the white hexagonal block, closes fingers around it and adjusts contact points to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand maintains a stable grip on the white hexagonal block on the dark table surface with no visible movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts its fingers to close around and establish a stable grip on the white cylindrical object resting on the table."}, {"label": "goal", "start_step": 2365, "end_step": 2508, "id": "7201fcff-9d12-476c-85d4-aff42fe4030c"}, {"label": "subtasks", "start_step": 2385, "end_step": 2437, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical object completely off the table surface, moves it upward and leftward to the position directly above the purple rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 2438, "end_step": 2497, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the white cylindrical object with the purple rod, moves the object downward to fit it onto the rod until it rests stably on the white base below."}, {"label": "subtasks", "start_step": 2498, "end_step": 2504, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: release: Right hand opens its fingers to release the grip on the white cylindrical object, separating the hand from the placed object."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward and slightly to the right while empty, approaching the green cube placed on the right area of the dark table surface."}, {"label": "goal", "start_step": 2509, "end_step": 2604, "id": "00b9d4f8-38c8-4032-9a33-cb2c781ddb2e"}, {"label": "subtasks", "start_step": 2550, "end_step": 2631, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts finger positions around the green cube, slightly closing fingers to contact the cube surface to establish a stable grasp."}, {"label": "goal", "start_step": 2605, "end_step": 2757, "id": "469ed193-5313-483f-8a94-77cdb4fff5fa"}, {"label": "subtasks", "start_step": 2632, "end_step": 2647, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air toward the purple cylindrical post on the wooden block tray."}, {"label": "subtasks", "start_step": 2678, "end_step": 2759, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple cylindrical post, lowers the block to fit snugly onto the post with small positional adjustments, and opens fingers to release the block once seated."}, {"label": "home", "start_step": 2780, "end_step": 2810, "id": "9b9imCtue41N0LRBEaSEF"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: idle: Right hand remains empty at the right side of the workspace without moving toward target objects."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves left and downward toward the small white object in front of the wooden peg block, with fingers extended."}, {"label": "subtasks", "start_step": 98, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers around the small white object in front of the wooden peg block, making fine adjustments of fingers and wrist to establish a grasp, with the object staying on the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the work surface and moves it upward to the area above the target purple post on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple post, then fits the block onto the top of the post."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place: Right hand moves the green hexagonal block downward along the purple post until the block rests stably on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the purple rod on the wooden assembly base, releases the block when the block is supported by the base."}, {"label": "subtasks", "start_step": 352, "end_step": 367, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the black table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 368, "end_step": 434, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusts finger positions and closes fingers to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 435, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without visible movement or hand shape adjustment."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block resting on the table, adjusting grip to form a stable hold while the block remains on the table surface."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 561, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, lowering the block to fit onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 562, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without observable movement of the hand or block."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block positioned on the purple rod, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand moves down to place the white hexagonal block onto the purple peg on the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward toward the left front white hexagonal block on the dark table surface, with fingers slightly spread."}, {"label": "subtasks", "start_step": 765, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the left front white hexagonal block to form a stable grip."}, {"label": "subtasks", "start_step": 832, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand holds the left front white hexagonal block on the dark table surface without any visible movement."}, {"label": "subtasks", "start_step": 840, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers and adjusts grip to grasp the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 862, "end_step": 877, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is fully separated from the black table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: transport: Right hand carries the white hexagonal nut through the air to the position directly above the target purple peg on the wooden block tray."}, {"label": "subtasks", "start_step": 900, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the target purple peg, moving the nut downward to fit it onto the peg to form the assembly."}, {"label": "subtasks", "start_step": 982, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: release: Right hand opens fingers to release the white hexagonal nut fitted on the purple peg, separating the hand from the nut."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand places the white hexagonal block onto the top of the stacked blocks on the purple rod and releases fingers to separate from the block."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward and rightward from the block stack toward the small white block on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1154, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts finger positions to close around and establish a grip on the small white block on the table."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and moves it upward to position it directly above the empty purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1178, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand makes small positional adjustments to align the central opening of the white hexagonal block with the purple peg, lowering the block to fit it onto the peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand lowers the held white hexagonal block along the purple rod to rest on the wooden base, opening fingers to release the supported block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1334, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves empty downward toward the front green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts finger positions to close around the front green hexagonal block to establish a grip on the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1417, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift: Right hand lifts the firmly grasped green hexagonal block upward, raising it completely off the dark table surface."}, {"label": "subtasks", "start_step": 1418, "end_step": 1447, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: transport: Right hand carries the lifted green block upward, moving it to a position directly above the purple vertical rod mounted on the wooden stand."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the purple rod, making small positional adjustments to fit the block over the rod end."}, {"label": "subtasks", "start_step": 1485, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place: Right hand moves the green block downward along the purple rod, lowering it until it rests on the supporting white component below on the wooden stand."}, {"label": "subtasks", "start_step": 1545, "end_step": 1611, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward while empty, approaching the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand holds the grasped white hexagonal block steadily, with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts its grip on the white hollow cylinder resting on the dark table surface to form a stable hold."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the dark table surface and moves it upward to the position directly above the target rod on the green block of the wooden assembly base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1784, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the white hollow cylinder with the target rod and lowers it to fit the cylinder onto the rod during the assembly motion."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: release: Right hand releases the top white cylindrical block on the purple rod, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1808, "end_step": 1851, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves empty toward the small white hexagonal block adjacent to the wooden base on the table."}, {"label": "subtasks", "start_step": 1852, "end_step": 1927, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to establish a stable grasp while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and moves it upward toward the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1980, "end_step": 2167, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal cylinder with the purple rod, adjusts position and orientation to fit the cylinder onto the rod with small fine movements."}, {"label": "subtasks", "start_step": 2168, "end_step": 2241, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: place_release: Right hand lowers the white hexagonal cylinder along the purple rod to rest on the wooden stand surface, opens fingers to release contact with the cylinder."}, {"label": "subtasks", "start_step": 2242, "end_step": 2249, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: idle: Right hand stays empty beside the wooden stand without noticeable movement."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface while remaining empty, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2272, "end_step": 2309, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand makes initial contact with the white hexagonal block, closes fingers around it and adjusts contact points to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 2310, "end_step": 2354, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: hold: Right hand maintains a stable grip on the white hexagonal block on the dark table surface with no visible movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 2355, "end_step": 2384, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts its fingers to close around and establish a stable grip on the white cylindrical object resting on the table."}, {"label": "subtasks", "start_step": 2385, "end_step": 2437, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical object completely off the table surface, moves it upward and leftward to the position directly above the purple rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 2438, "end_step": 2497, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate: Right hand aligns the central hole of the white cylindrical object with the purple rod, moves the object downward to fit it onto the rod until it rests stably on the white base below."}, {"label": "subtasks", "start_step": 2498, "end_step": 2504, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: release: Right hand opens its fingers to release the grip on the white cylindrical object, separating the hand from the placed object."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: reach: Right hand moves downward and slightly to the right while empty, approaching the green cube placed on the right area of the dark table surface."}, {"label": "subtasks", "start_step": 2550, "end_step": 2631, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: grasp: Right hand adjusts finger positions around the green cube, slightly closing fingers to contact the cube surface to establish a stable grasp."}, {"label": "subtasks", "start_step": 2632, "end_step": 2647, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until it is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air toward the purple cylindrical post on the wooden block tray."}, {"label": "subtasks", "start_step": 2678, "end_step": 2759, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any obvious movement toward operating objects. | Right hand: mate_release: Right hand aligns the central hole of the green hexagonal block with the purple cylindrical post, lowers the block to fit snugly onto the post with small positional adjustments, and opens fingers to release the block once seated."}], "episode_index": 16}
+{"source_uid": "70dbf4c49481aa68", "num_frames": 4337, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the lower left initial position upward to the upper left home position. | Right hand: reach: Right hand moves from the right lower initial position toward the green hexagonal block at the left front of the wooden rack on the table."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "eaadea6e-5383-4327-8fbc-e84898bab7c8"}, {"label": "valid", "start_step": 0, "end_step": 4305, "id": "UyNgG8mhFWyIv2c-vY3bJ"}, {"label": "subtasks", "start_step": 30, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves from the right lower initial position toward the green hexagonal block at the left front of the wooden rack on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand holds the green hexagonal block and moves it backward toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and moves it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the green hexagonal block on the left table area, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 181, "end_step": 306, "id": "5949b39b-f2bf-4933-a8f3-c7d1731814ba"}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to above the leftmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning and sliding it down the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward from the upper peg board area toward the white hexagonal block on the left side of the table surface."}, {"label": "goal", "start_step": 307, "end_step": 462, "id": "1902dc4d-4ef4-4acc-bbcc-9d2111bc3d8a"}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hexagonal block on the left table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 390, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal block on the left table surface without moving."}, {"label": "goal", "start_step": 463, "end_step": 603, "id": "2db4378e-7757-46f1-a935-31f28483cdfe"}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it towards the leftmost purple peg on the background rack."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand mates the white hexagonal nut with the leftmost purple peg by aligning its hole with the peg top and inserting it onto the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: place: Right hand places the white hexagonal nut downward along the leftmost purple peg towards the green base."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: press_release: Right hand presses the white hexagonal block down onto the front-left purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 604, "end_step": 732, "id": "a685b50d-6f10-4834-bebb-d39338fd2319"}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal object on the black table without moving."}, {"label": "goal", "start_step": 733, "end_step": 858, "id": "8cce26a9-2c41-45fd-b087-fc3f802b3173"}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white hexagonal object upward until it leaves the supporting surface."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand transports the white hexagonal object toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and inserts it downward onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal object fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: press: Right hand presses the white hexagonal block on the rightmost purple rod downward to apply pressure."}, {"label": "goal", "start_step": 859, "end_step": 978, "id": "b713121c-ef73-45cb-aeef-3e67d7e33551"}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward with empty hand to approach the small white object on the table next to the upper green block."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the small white object on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 979, "end_step": 1128, "id": "69479257-04eb-4005-9eaa-dbb0f1f21ed7"}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white cylindrical piece from the table and transports it upward to the top of the middle purple rod."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the white cylindrical piece with the middle purple rod and inserts it downward onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod, with fingers opening to separate from the piece."}, {"label": "goal", "start_step": 1129, "end_step": 1251, "id": "1c4b3d45-29e4-4fc7-9038-8dbfef3d57e5"}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate_release: Right hand mates the white ring onto the purple vertical rod and releases its grip on the ring."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1252, "end_step": 1377, "id": "cf59222b-a1e6-4eca-be29-cbb3d0dc435e"}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand mates the green block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate_release: Right hand mates the green block onto the purple peg of the wooden base before releasing the block."}, {"label": "goal", "start_step": 1378, "end_step": 1542, "id": "0010e9d2-c13a-4aba-bf9f-bcc8eed721e4"}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1543, "end_step": 2049, "id": "b8c6e67f-2f80-450c-9b18-b4a9d364b050"}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and moves it toward the upper middle wooden base with pegs."}, {"label": "subtasks", "start_step": 1575, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the white hollow cylinder with a peg on the wooden base and lowers it onto the peg to fit the two parts together."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand releases the white hollow cylinder on the peg, with fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 1695, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the white hollow cylinder that has fallen onto the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hollow cylinder on the table, with fingers closing and adjusting to form a stable grip while the cylinder remains on the table."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and moves it upward toward the peg on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the white hollow cylinder with the peg on the wooden base and lowers it onto the peg to fit the two parts together."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases it."}, {"label": "goal", "start_step": 2050, "end_step": 2145, "id": "29369598-63c6-40fe-8256-96bc9a897207"}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward and rightward to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white hexagonal block from the dark gray table surface."}, {"label": "goal", "start_step": 2146, "end_step": 2310, "id": "5905352f-5712-42c8-b072-1e9bc6f4d7c9"}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple rod and places it onto the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod over the wooden base without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand releases the white hexagonal block, leaving it on the purple rod and wooden base."}, {"label": "goal", "start_step": 2311, "end_step": 2922, "id": "0ebc22d3-cbab-4b3e-b30f-739d10e7f1bc"}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the white hex block on the table surface."}, {"label": "subtasks", "start_step": 2370, "end_step": 2444, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hex block on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2445, "end_step": 2497, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white hex block from the table and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: place_release: Right hand places the white hex block onto the purple rod then releases it, and the block falls onto the table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2631, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward and rightward toward the fallen white hex block on the table surface."}, {"label": "subtasks", "start_step": 2632, "end_step": 2721, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hex block on the table surface with fingers adjusting the grip."}, {"label": "subtasks", "start_step": 2722, "end_step": 2827, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: other:slide_white_hex_block_on_table: Right hand slides the white hex block on the table surface to adjust its position and orientation."}, {"label": "subtasks", "start_step": 2828, "end_step": 2909, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hex block on the table surface without moving."}, {"label": "subtasks", "start_step": 2910, "end_step": 2939, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white cubic object on the right side of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2923, "end_step": 3978, "id": "0d3219f8-823d-48c4-b8db-894cb038bb78"}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white cubic object off the table surface."}, {"label": "subtasks", "start_step": 2955, "end_step": 2984, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand transports the white cubic object leftward and upward toward the purple rod on the pegboard."}, {"label": "subtasks", "start_step": 2985, "end_step": 3337, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand adjusts the position of the white cubic object repeatedly to align it with the purple rod on the pegboard."}, {"label": "subtasks", "start_step": 3338, "end_step": 3351, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand releases the white cubic object, which falls onto the table surface."}, {"label": "subtasks", "start_step": 3352, "end_step": 3404, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand reaches downward toward the white cubic object that fell on the table."}, {"label": "subtasks", "start_step": 3405, "end_step": 3487, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the fallen white cubic object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3488, "end_step": 3591, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reorient: Right hand reorients the white cubic object on the table, rotating it to adjust its posture with little horizontal position change."}, {"label": "subtasks", "start_step": 3592, "end_step": 3614, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white cubic object slightly off the table surface."}, {"label": "subtasks", "start_step": 3615, "end_step": 3644, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: place: Right hand places the reoriented white cubic object back onto the table surface in an upright posture."}, {"label": "subtasks", "start_step": 3645, "end_step": 3674, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand opens its fingers and releases the white cubic object on the table."}, {"label": "subtasks", "start_step": 3675, "end_step": 3809, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand reaches toward the upright white cubic object on the table, moving to a position above the object."}, {"label": "subtasks", "start_step": 3810, "end_step": 3831, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the upright white cubic object on the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 3832, "end_step": 3854, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white cubic object off the table surface."}, {"label": "subtasks", "start_step": 3855, "end_step": 3884, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand transports the white cubic object leftward and upward toward the purple rod on the pegboard."}, {"label": "subtasks", "start_step": 3885, "end_step": 3974, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand adjusts the white cubic object to mate it onto the purple rod of the pegboard."}, {"label": "subtasks", "start_step": 3975, "end_step": 4004, "id": "reasoning-language-00081", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: press: Right hand presses down on the purple top of the white bottle at the front right of the wooden tray."}, {"label": "goal", "start_step": 3979, "end_step": 4086, "id": "54e55046-6030-4a8b-b48c-bca2bbf83d9c"}, {"label": "subtasks", "start_step": 4005, "end_step": 4034, "id": "reasoning-language-00082", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand reaches toward the green cube on the table, moving downward and rightward from the bottle tray area."}, {"label": "subtasks", "start_step": 4035, "end_step": 4071, "id": "reasoning-language-00083", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 4072, "end_step": 4079, "id": "reasoning-language-00084", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 4080, "end_step": 4117, "id": "reasoning-language-00085", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand adjusts its grip on the green ring object resting on the right work surface, with fingers slightly moving to stabilize the grasp."}, {"label": "goal", "start_step": 4087, "end_step": 4266, "id": "10c03e68-8e43-4019-af0d-32b8388b2790"}, {"label": "subtasks", "start_step": 4118, "end_step": 4154, "id": "reasoning-language-00086", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the green ring object off the work surface and moves it upward and leftward toward the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 4155, "end_step": 4221, "id": "reasoning-language-00087", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the green ring object with the top of the rightmost white bottle on the wooden rack and presses it down to fit onto the bottle."}, {"label": "subtasks", "start_step": 4222, "end_step": 4274, "id": "reasoning-language-00088", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release_retreat: Right hand releases the green ring object by opening its fingers, then moves slightly upward away from the bottle."}, {"label": "home", "start_step": 4306, "end_step": 4336, "id": "8_yg4OkkGAJNnbMrFa7ak"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the lower left initial position upward to the upper left home position. | Right hand: reach: Right hand moves from the right lower initial position toward the green hexagonal block at the left front of the wooden rack on the table."}, {"label": "subtasks", "start_step": 30, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves from the right lower initial position toward the green hexagonal block at the left front of the wooden rack on the table."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block and adjusts the grip to stabilize the block."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand holds the green hexagonal block and moves it backward toward the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and moves it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the green hexagonal block on the left table area, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward to above the leftmost purple peg of the pegboard."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg by aligning and sliding it down the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward from the upper peg board area toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hexagonal block on the left table surface with fingers closing around the block."}, {"label": "subtasks", "start_step": 390, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal block on the left table surface without moving."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it towards the leftmost purple peg on the background rack."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand mates the white hexagonal nut with the leftmost purple peg by aligning its hole with the peg top and inserting it onto the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: place: Right hand places the white hexagonal nut downward along the leftmost purple peg towards the green base."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: press_release: Right hand presses the white hexagonal block down onto the front-left purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal object on the black table without moving."}, {"label": "subtasks", "start_step": 742, "end_step": 757, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white hexagonal object upward until it leaves the supporting surface."}, {"label": "subtasks", "start_step": 758, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand transports the white hexagonal object toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the white hexagonal object with the purple rod and inserts it downward onto the rod."}, {"label": "subtasks", "start_step": 818, "end_step": 854, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal object fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: press: Right hand presses the white hexagonal block on the rightmost purple rod downward to apply pressure."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward with empty hand to approach the small white object on the table next to the upper green block."}, {"label": "subtasks", "start_step": 930, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the small white object on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white cylindrical piece from the table and transports it upward to the top of the middle purple rod."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the white cylindrical piece with the middle purple rod and inserts it downward onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod, with fingers opening to separate from the piece."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate_release: Right hand mates the white ring onto the purple vertical rod and releases its grip on the ring."}, {"label": "subtasks", "start_step": 1155, "end_step": 1177, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1178, "end_step": 1191, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1192, "end_step": 1244, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand mates the green block onto the purple peg by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1365, "end_step": 1401, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate_release: Right hand mates the green block onto the purple peg of the wooden base before releasing the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1559, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and moves it toward the upper middle wooden base with pegs."}, {"label": "subtasks", "start_step": 1575, "end_step": 1679, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the white hollow cylinder with a peg on the wooden base and lowers it onto the peg to fit the two parts together."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand releases the white hollow cylinder on the peg, with fingers opening to separate from the cylinder."}, {"label": "subtasks", "start_step": 1695, "end_step": 1777, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1778, "end_step": 1807, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the white hollow cylinder that has fallen onto the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1911, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hollow cylinder on the table, with fingers closing and adjusting to form a stable grip while the cylinder remains on the table."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and moves it upward toward the peg on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2039, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the white hollow cylinder with the peg on the wooden base and lowers it onto the peg to fit the two parts together."}, {"label": "subtasks", "start_step": 2040, "end_step": 2069, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases it."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward and rightward to approach the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2167, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white hexagonal block from the dark gray table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2211, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate_place: Right hand mates the white hexagonal block with the purple rod and places it onto the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2309, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod over the wooden base without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand releases the white hexagonal block, leaving it on the purple rod and wooden base."}, {"label": "subtasks", "start_step": 2332, "end_step": 2369, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward toward the white hex block on the table surface."}, {"label": "subtasks", "start_step": 2370, "end_step": 2444, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hex block on the table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2445, "end_step": 2497, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the white hex block from the table and transports it upward toward the wooden base."}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: place_release: Right hand places the white hex block onto the purple rod then releases it, and the block falls onto the table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2631, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand moves downward and rightward toward the fallen white hex block on the table surface."}, {"label": "subtasks", "start_step": 2632, "end_step": 2721, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white hex block on the table surface with fingers adjusting the grip."}, {"label": "subtasks", "start_step": 2722, "end_step": 2827, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: other:slide_white_hex_block_on_table: Right hand slides the white hex block on the table surface to adjust its position and orientation."}, {"label": "subtasks", "start_step": 2828, "end_step": 2909, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the white hex block on the table surface without moving."}, {"label": "subtasks", "start_step": 2910, "end_step": 2939, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the white cubic object on the right side of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white cubic object off the table surface."}, {"label": "subtasks", "start_step": 2955, "end_step": 2984, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand transports the white cubic object leftward and upward toward the purple rod on the pegboard."}, {"label": "subtasks", "start_step": 2985, "end_step": 3337, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand adjusts the position of the white cubic object repeatedly to align it with the purple rod on the pegboard."}, {"label": "subtasks", "start_step": 3338, "end_step": 3351, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand releases the white cubic object, which falls onto the table surface."}, {"label": "subtasks", "start_step": 3352, "end_step": 3404, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand reaches downward toward the white cubic object that fell on the table."}, {"label": "subtasks", "start_step": 3405, "end_step": 3487, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the fallen white cubic object on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3488, "end_step": 3591, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reorient: Right hand reorients the white cubic object on the table, rotating it to adjust its posture with little horizontal position change."}, {"label": "subtasks", "start_step": 3592, "end_step": 3614, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white cubic object slightly off the table surface."}, {"label": "subtasks", "start_step": 3615, "end_step": 3644, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: place: Right hand places the reoriented white cubic object back onto the table surface in an upright posture."}, {"label": "subtasks", "start_step": 3645, "end_step": 3674, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release: Right hand opens its fingers and releases the white cubic object on the table."}, {"label": "subtasks", "start_step": 3675, "end_step": 3809, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand reaches toward the upright white cubic object on the table, moving to a position above the object."}, {"label": "subtasks", "start_step": 3810, "end_step": 3831, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the upright white cubic object on the table, with fingers closing around the object."}, {"label": "subtasks", "start_step": 3832, "end_step": 3854, "id": "reasoning-language-00078", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift: Right hand lifts the white cubic object off the table surface."}, {"label": "subtasks", "start_step": 3855, "end_step": 3884, "id": "reasoning-language-00079", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: transport: Right hand transports the white cubic object leftward and upward toward the purple rod on the pegboard."}, {"label": "subtasks", "start_step": 3885, "end_step": 3974, "id": "reasoning-language-00080", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand adjusts the white cubic object to mate it onto the purple rod of the pegboard."}, {"label": "subtasks", "start_step": 3975, "end_step": 4004, "id": "reasoning-language-00081", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: press: Right hand presses down on the purple top of the white bottle at the front right of the wooden tray."}, {"label": "subtasks", "start_step": 4005, "end_step": 4034, "id": "reasoning-language-00082", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: reach: Right hand reaches toward the green cube on the table, moving downward and rightward from the bottle tray area."}, {"label": "subtasks", "start_step": 4035, "end_step": 4071, "id": "reasoning-language-00083", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 4072, "end_step": 4079, "id": "reasoning-language-00084", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 4080, "end_step": 4117, "id": "reasoning-language-00085", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: grasp: Right hand adjusts its grip on the green ring object resting on the right work surface, with fingers slightly moving to stabilize the grasp."}, {"label": "subtasks", "start_step": 4118, "end_step": 4154, "id": "reasoning-language-00086", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: lift_transport: Right hand lifts the green ring object off the work surface and moves it upward and leftward toward the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 4155, "end_step": 4221, "id": "reasoning-language-00087", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: mate: Right hand aligns the green ring object with the top of the rightmost white bottle on the wooden rack and presses it down to fit onto the bottle."}, {"label": "subtasks", "start_step": 4222, "end_step": 4274, "id": "reasoning-language-00088", "text": "Left hand: idle: Left hand remains empty and motionless at the upper left home position. | Right hand: release_retreat: Right hand releases the green ring object by opening its fingers, then moves slightly upward away from the bottle."}], "episode_index": 17}
+{"source_uid": "1c173c4d92f7e78d", "num_frames": 4357, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves forward towards the white hexagonal block on the leftmost position of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 204, "id": "e4f58672-6d2d-411e-843c-393357c03d23"}, {"label": "valid", "start_step": 0, "end_step": 4324, "id": "JFOPg_IF6mo5AHBs0ZV7b"}, {"label": "subtasks", "start_step": 82, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the leftmost position of the wooden base."}, {"label": "goal", "start_step": 205, "end_step": 342, "id": "22772273-bd44-411d-8251-f87bb2680729"}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple rod by fitting it down onto the rod until it is fully seated."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the green block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 343, "end_step": 501, "id": "889bdda0-fe7d-401a-8b97-9723109c68c6"}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black desktop."}, {"label": "subtasks", "start_step": 405, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black desktop."}, {"label": "goal", "start_step": 502, "end_step": 648, "id": "f247f3b3-be15-40a3-9da3-5663aaecddc7"}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 681, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 649, "end_step": 786, "id": "5673d973-8304-4e82-a8c0-b5c5e3e92a82"}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 787, "end_step": 933, "id": "ff4bf8bc-e603-4e71-a551-e410b64afaed"}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 929, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the corresponding purple rod on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves down towards the small white block placed on the table adjacent to the green wooden base."}, {"label": "goal", "start_step": 934, "end_step": 1044, "id": "60c095a5-4ce5-4939-8758-c7fab012534f"}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes its fingers around the small white block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1045, "end_step": 1203, "id": "a1d30461-30fc-4473-bd35-7f42cea0055e"}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1199, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand lowers the white hexagonal block to mate it onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1207, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards towards the upper green hexagonal block placed on the table."}, {"label": "goal", "start_step": 1204, "end_step": 1308, "id": "79ac7c88-caa6-447b-906b-80554074973b"}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fully fitted onto the purple peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards towards the upper green hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the upper green hexagonal block, with subtle finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 1309, "end_step": 1440, "id": "e696035e-1275-4959-9933-6736a9063484"}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it towards the wooden rack with vertical pegs."}, {"label": "subtasks", "start_step": 1350, "end_step": 1439, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green cube with the purple peg on the wooden rack, then inserts it down onto the peg until it is fully seated."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward from the stacked blocks area towards the white hollow cylinder on the black table."}, {"label": "goal", "start_step": 1441, "end_step": 1572, "id": "278438e0-fa99-4687-993b-3400ec3743fe"}, {"label": "subtasks", "start_step": 1492, "end_step": 1589, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow cylinder on the black table, with slight grip adjustment."}, {"label": "goal", "start_step": 1573, "end_step": 2802, "id": "2e677c87-2c4d-4b93-9098-6b6b66fb57f3"}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1620, "end_step": 2789, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the corresponding peg on the wooden base, adjusting its position to fit correctly."}, {"label": "subtasks", "start_step": 2790, "end_step": 2834, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block placed on the table near the wooden base."}, {"label": "goal", "start_step": 2803, "end_step": 2925, "id": "945c5cb6-100f-433a-8975-06eb6e715958"}, {"label": "subtasks", "start_step": 2835, "end_step": 2954, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand makes contact with the white cylindrical block on the table, fingers adjust to form a stable grip."}, {"label": "goal", "start_step": 2926, "end_step": 3093, "id": "a28dadda-eb1d-4b93-97b8-372df518abc0"}, {"label": "subtasks", "start_step": 2955, "end_step": 2991, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2992, "end_step": 3089, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and inserts it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 3090, "end_step": 3097, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the table."}, {"label": "goal", "start_step": 3094, "end_step": 3219, "id": "c3e57ba3-b7cb-4bc9-8fee-3cdc9d06d684"}, {"label": "subtasks", "start_step": 3098, "end_step": 3104, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 3105, "end_step": 3141, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 3142, "end_step": 3209, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers around the white cylindrical block and makes slight adjustments to stabilize the grasp."}, {"label": "subtasks", "start_step": 3210, "end_step": 3239, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the white cylindrical object from the black table surface."}, {"label": "goal", "start_step": 3220, "end_step": 3885, "id": "56978e5b-c5d7-4dea-a10d-0a0333af4756"}, {"label": "subtasks", "start_step": 3240, "end_step": 3277, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 3278, "end_step": 3351, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white cylindrical object onto the purple rod."}, {"label": "subtasks", "start_step": 3352, "end_step": 3434, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white cylindrical object, which falls onto the table surface beside the wooden rack."}, {"label": "subtasks", "start_step": 3435, "end_step": 3561, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach_grasp: Right hand reaches towards the fallen white cylindrical object and grasps it."}, {"label": "subtasks", "start_step": 3562, "end_step": 3629, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the white cylindrical object to the middle area of the black table."}, {"label": "subtasks", "start_step": 3630, "end_step": 3741, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts the grasp on the white cylindrical object placed on the table."}, {"label": "subtasks", "start_step": 3742, "end_step": 3787, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 3788, "end_step": 3869, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white cylindrical object onto the purple rod."}, {"label": "subtasks", "start_step": 3870, "end_step": 3884, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: hold: Right hand holds the white cylindrical object stably on the purple rod without moving."}, {"label": "subtasks", "start_step": 3885, "end_step": 3914, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white bottle on the wooden tray with fingers opening."}, {"label": "goal", "start_step": 3886, "end_step": 4002, "id": "fa5a34f8-b364-4421-a172-fbaf5b9bbcce"}, {"label": "subtasks", "start_step": 3915, "end_step": 3951, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 3952, "end_step": 4019, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface with fingers adjusting to form stable grip."}, {"label": "goal", "start_step": 4003, "end_step": 4299, "id": "4e35eb9f-52f2-42cf-b197-565b024eab56"}, {"label": "subtasks", "start_step": 4020, "end_step": 4049, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green block upwards from the black tabletop until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 4050, "end_step": 4109, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the green block towards the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 4110, "end_step": 4289, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the green block with the white bottle with purple cap, fitting the block onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 4290, "end_step": 4304, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the green block after it is securely fitted onto the white bottle."}, {"label": "home", "start_step": 4325, "end_step": 4356, "id": "bwLdE3LT5x6ePO-AYVJTZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves forward towards the white hexagonal block on the leftmost position of the wooden base."}, {"label": "subtasks", "start_step": 82, "end_step": 224, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the leftmost position of the wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 329, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the green hexagonal block with the purple rod by fitting it down onto the rod until it is fully seated."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the green block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black desktop."}, {"label": "subtasks", "start_step": 405, "end_step": 509, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the black desktop."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 681, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 682, "end_step": 727, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 929, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the corresponding purple rod on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves down towards the small white block placed on the table adjacent to the green wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1064, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes its fingers around the small white block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1199, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand lowers the white hexagonal block to mate it onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1207, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards towards the upper green hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white hexagonal block after it is fully fitted onto the purple peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downwards towards the upper green hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers to grasp the upper green hexagonal block, with subtle finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it towards the wooden rack with vertical pegs."}, {"label": "subtasks", "start_step": 1350, "end_step": 1439, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the green cube with the purple peg on the wooden rack, then inserts it down onto the peg until it is fully seated."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward from the stacked blocks area towards the white hollow cylinder on the black table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1589, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow cylinder on the black table, with slight grip adjustment."}, {"label": "subtasks", "start_step": 1590, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1620, "end_step": 2789, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the corresponding peg on the wooden base, adjusting its position to fit correctly."}, {"label": "subtasks", "start_step": 2790, "end_step": 2834, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 2835, "end_step": 2954, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand makes contact with the white cylindrical block on the table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2955, "end_step": 2991, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the tabletop and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2992, "end_step": 3089, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and inserts it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 3090, "end_step": 3097, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 3098, "end_step": 3104, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white cylindrical block and moves slightly away from the peg."}, {"label": "subtasks", "start_step": 3105, "end_step": 3141, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 3142, "end_step": 3209, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand closes fingers around the white cylindrical block and makes slight adjustments to stabilize the grasp."}, {"label": "subtasks", "start_step": 3210, "end_step": 3239, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the white cylindrical object from the black table surface."}, {"label": "subtasks", "start_step": 3240, "end_step": 3277, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 3278, "end_step": 3351, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white cylindrical object onto the purple rod."}, {"label": "subtasks", "start_step": 3352, "end_step": 3434, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white cylindrical object, which falls onto the table surface beside the wooden rack."}, {"label": "subtasks", "start_step": 3435, "end_step": 3561, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach_grasp: Right hand reaches towards the fallen white cylindrical object and grasps it."}, {"label": "subtasks", "start_step": 3562, "end_step": 3629, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the white cylindrical object to the middle area of the black table."}, {"label": "subtasks", "start_step": 3630, "end_step": 3741, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand adjusts the grasp on the white cylindrical object placed on the table."}, {"label": "subtasks", "start_step": 3742, "end_step": 3787, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 3788, "end_step": 3869, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: place: Right hand places the white cylindrical object onto the purple rod."}, {"label": "subtasks", "start_step": 3870, "end_step": 3884, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: hold: Right hand holds the white cylindrical object stably on the purple rod without moving."}, {"label": "subtasks", "start_step": 3885, "end_step": 3914, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the white bottle on the wooden tray with fingers opening."}, {"label": "subtasks", "start_step": 3915, "end_step": 3951, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 3952, "end_step": 4019, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 4020, "end_step": 4049, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: lift: Right hand lifts the green block upwards from the black tabletop until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 4050, "end_step": 4109, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: transport: Right hand transports the green block towards the white bottle with purple cap on the wooden tray."}, {"label": "subtasks", "start_step": 4110, "end_step": 4289, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: mate: Right hand mates the green block with the white bottle with purple cap, fitting the block onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 4290, "end_step": 4304, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the desktop without moving. | Right hand: release: Right hand releases the green block after it is securely fitted onto the white bottle."}], "episode_index": 18}
+{"source_uid": "78a0a364e241b4c5", "num_frames": 3143, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves leftward and downward from its initial right position toward the wooden assembly base, with fingers slightly extended, approaching the components near the base without making contact."}, {"label": "goal", "start_step": 0, "end_step": 222, "id": "10f6d6c4-74a9-4015-994f-4923b31add49"}, {"label": "valid", "start_step": 0, "end_step": 3108, "id": "clMsyZdk_9ZyGfTXrw2lc"}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand closes its fingers around the small green hexagonal block in front of the wooden assembly base, making slight finger and wrist adjustments to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the small green hexagonal block in front of the wooden assembly base without observable movement of the hand, fingers or the grasped block."}, {"label": "subtasks", "start_step": 210, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block near the wooden peg base."}, {"label": "goal", "start_step": 223, "end_step": 417, "id": "b5e06e7a-b29f-4982-8532-d58a313dc3d9"}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the dark support surface."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: transport: Right hand transports the lifted green hexagonal block upward to position it directly above the target purple peg."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit snugly onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: place_release: Right hand holds the green hexagonal block, lowers it to place it onto the purple post on the wooden base, opens fingers to release the block as it becomes supported by the base."}, {"label": "goal", "start_step": 418, "end_step": 720, "id": "af38b212-4de4-4af3-91c7-850138f9cc73"}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves downward with empty fingers toward the white hexagonal block located on the front-middle section of the table."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand closes fingers around the front-middle white hexagonal block, making small adjustments to finger positions and wrist angle to establish a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the table surface, moves it horizontally to a position adjacent to the nearby green hexagonal block."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block to place it on the table next to the green hexagonal block, opens fingers to release the block as it rests stably on the table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach_grasp: Right hand moves the short distance from the released white block to the adjacent green hexagonal block, closes fingers around the green block and makes slight adjustments to establish a stable grip on the table-supported block."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface with no observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the table surface, then lifts the block upward until it is fully separated from the table."}, {"label": "goal", "start_step": 721, "end_step": 888, "id": "26673f1d-19d4-4892-a4d8-6bc80a2c31ea"}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden pegboard, moving the block directly above the target purple peg."}, {"label": "subtasks", "start_step": 765, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand makes slight positional adjustments to align the white hexagonal block with the target purple peg, then lowers the block to fit onto the peg until it rests on the green block below, completing the mating action."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the purple rod on the wooden base, releases the block as the block becomes stably supported by the rod."}, {"label": "goal", "start_step": 889, "end_step": 1014, "id": "cf644744-91dd-447c-8658-7d92d66972e4"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers close and make small adjustments to establish a grip on the nut."}, {"label": "goal", "start_step": 1015, "end_step": 1161, "id": "b608bd2a-0a9a-4fb3-8a01-2eaa16e07980"}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the grasped block completely off the table, moves upward and backward toward the wooden block rack at the back of the workspace."}, {"label": "subtasks", "start_step": 1065, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the grasped block to align its central hole with the target purple peg on the wooden rack, fitting the block onto the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and nests the block onto the purple rod on the wooden base, with fingers opening to release the stably supported block."}, {"label": "goal", "start_step": 1162, "end_step": 1257, "id": "8ffc61e4-1693-4c42-b50a-d90f54c92514"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the white hexagonal block on the table in front of the base, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, adjusting finger positions and closing fingers to establish a grip on the block while the block stays supported by the table surface."}, {"label": "goal", "start_step": 1258, "end_step": 1440, "id": "7f077d95-eda8-4ef8-ad78-70412864308b"}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the grasped white hexagonal nut to align its central hole with the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut stationary on the top of the purple vertical rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1350, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to fit it onto the purple vertical rod as part of the assembly process."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves downward from the upper stacked block area toward the green hexagonal block on the dark table surface, remaining empty and not yet contacting the target block."}, {"label": "goal", "start_step": 1441, "end_step": 1551, "id": "34e21516-0cca-41a5-bfd4-13da3c16ddae"}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish a grasp while the block remains resting on the table surface."}, {"label": "goal", "start_step": 1552, "end_step": 1731, "id": "55a2e33a-0608-46aa-90f8-624d4c558d7e"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface, moves it upward and toward the wooden assembly to position it above the purple vertical rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1611, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple vertical rod without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: press: Right hand applies downward vertical force on the green hexagonal block to press it further along the purple vertical rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical component mounted on the purple peg of the wooden assembly base, separating fully from the component."}, {"label": "goal", "start_step": 1732, "end_step": 1836, "id": "c5af553e-c8aa-4249-bb4e-12704b4302f3"}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1785, "end_step": 1851, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and adjusting contact points to establish a stable grip on the nut."}, {"label": "goal", "start_step": 1837, "end_step": 2019, "id": "21109e48-976e-4d16-9046-527b370e2767"}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving it upward and toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1882, "end_step": 2009, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand, lowering the block while making slight positional adjustments to fit it onto the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves rightward and downward toward the upper white hexagonal block on the dark table surface, with fingers held slightly open."}, {"label": "goal", "start_step": 2020, "end_step": 2121, "id": "0b85726f-dd25-40a5-9ae0-25221ada90c8"}, {"label": "subtasks", "start_step": 2070, "end_step": 2144, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal block on the dark table surface, adjusting finger positions to establish a grip on the block."}, {"label": "goal", "start_step": 2122, "end_step": 2295, "id": "52f09e87-9ae9-422f-bbf6-1fa3a8708a6e"}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface, moving the block upward and slightly leftward toward the purple vertical rod mounted on the wooden block tray."}, {"label": "subtasks", "start_step": 2182, "end_step": 2287, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, sliding the block down the rod until it rests securely on the wooden block tray to form the fitted assembly."}, {"label": "subtasks", "start_step": 2288, "end_step": 2294, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, completing full separation from the block surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the dark table surface, approaching the target without making contact."}, {"label": "goal", "start_step": 2296, "end_step": 2388, "id": "0b337106-3dce-46dd-8189-66d62823deb8"}, {"label": "subtasks", "start_step": 2340, "end_step": 2369, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting finger contact positions to form a stable grip while the nut stays on the table surface."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the dark table surface, with no observable movement of the hand, fingers or the grasped nut."}, {"label": "goal", "start_step": 2389, "end_step": 2520, "id": "499ab308-a0ed-4764-9b42-3c40d03c0c11"}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward to the position directly above the purple rod placed on the wooden rack."}, {"label": "subtasks", "start_step": 2422, "end_step": 2519, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align it with the purple rod and fits the block down onto the rod to form the assembled state."}, {"label": "subtasks", "start_step": 2520, "end_step": 2527, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that is fitted on the purple rod."}, {"label": "goal", "start_step": 2521, "end_step": 2616, "id": "4b41d46b-7547-4e66-ab20-a859c0fcff65"}, {"label": "subtasks", "start_step": 2528, "end_step": 2571, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves diagonally downward and rightward toward the green holed block on the black table surface, staying empty during the movement."}, {"label": "subtasks", "start_step": 2572, "end_step": 2631, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand adjusts finger positions around the green holed block on the black table surface to establish a grip, with fingers in contact with the block."}, {"label": "goal", "start_step": 2617, "end_step": 3078, "id": "00727265-cfea-4436-a08b-f6561858b251"}, {"label": "subtasks", "start_step": 2632, "end_step": 2647, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: transport: Right hand carries the lifted green block forward and upward toward the target position above the wooden block rack."}, {"label": "subtasks", "start_step": 2678, "end_step": 2984, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align it with the purple cylindrical target on the rack, then lowers the block to fit onto the target cylinder."}, {"label": "subtasks", "start_step": 2985, "end_step": 3007, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: release: Right hand opens its fingers gradually to release the fitted green block, separating the hand from the block."}, {"label": "subtasks", "start_step": 3008, "end_step": 3089, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: retreat: Right hand moves away from the wooden block rack with an empty hand, retreating toward the upper right area of the workspace."}, {"label": "home", "start_step": 3109, "end_step": 3142, "id": "VZ6H_KmU_6QkdVh5hX_WK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves leftward and downward from its initial right position toward the wooden assembly base, with fingers slightly extended, approaching the components near the base without making contact."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand closes its fingers around the small green hexagonal block in front of the wooden assembly base, making slight finger and wrist adjustments to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 135, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the small green hexagonal block in front of the wooden assembly base without observable movement of the hand, fingers or the grasped block."}, {"label": "subtasks", "start_step": 210, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block near the wooden peg base."}, {"label": "subtasks", "start_step": 278, "end_step": 291, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward off the dark support surface."}, {"label": "subtasks", "start_step": 292, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: transport: Right hand transports the lifted green hexagonal block upward to position it directly above the target purple peg."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it to fit snugly onto the peg."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 405, "end_step": 441, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: place_release: Right hand holds the green hexagonal block, lowers it to place it onto the purple post on the wooden base, opens fingers to release the block as it becomes supported by the base."}, {"label": "subtasks", "start_step": 442, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves downward with empty fingers toward the white hexagonal block located on the front-middle section of the table."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand closes fingers around the front-middle white hexagonal block, making small adjustments to finger positions and wrist angle to establish a stable grip on the block resting on the table."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the table surface, moves it horizontally to a position adjacent to the nearby green hexagonal block."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block to place it on the table next to the green hexagonal block, opens fingers to release the block as it rests stably on the table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach_grasp: Right hand moves the short distance from the released white block to the adjacent green hexagonal block, closes fingers around the green block and makes slight adjustments to establish a stable grip on the table-supported block."}, {"label": "subtasks", "start_step": 660, "end_step": 719, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface with no observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the table surface, then lifts the block upward until it is fully separated from the table."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the wooden pegboard, moving the block directly above the target purple peg."}, {"label": "subtasks", "start_step": 765, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand makes slight positional adjustments to align the white hexagonal block with the target purple peg, then lowers the block to fit onto the peg until it rests on the green block below, completing the mating action."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the purple rod on the wooden base, releases the block as the block becomes stably supported by the rod."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves downward empty toward the white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 952, "end_step": 1034, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand contacts the white hexagonal nut on the table, fingers close and make small adjustments to establish a grip on the nut."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the grasped block completely off the table, moves upward and backward toward the wooden block rack at the back of the workspace."}, {"label": "subtasks", "start_step": 1065, "end_step": 1154, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the grasped block to align its central hole with the target purple peg on the wooden rack, fitting the block onto the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and nests the block onto the purple rod on the wooden base, with fingers opening to release the stably supported block."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves downward empty from the wooden base area toward the white hexagonal block on the table in front of the base, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, adjusting finger positions and closing fingers to establish a grip on the block while the block stays supported by the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position directly above the purple vertical rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the grasped white hexagonal nut to align its central hole with the top of the purple vertical rod."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut stationary on the top of the purple vertical rod without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1350, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal nut to fit it onto the purple vertical rod as part of the assembly process."}, {"label": "subtasks", "start_step": 1440, "end_step": 1491, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves downward from the upper stacked block area toward the green hexagonal block on the dark table surface, remaining empty and not yet contacting the target block."}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers to establish a grasp while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface, moves it upward and toward the wooden assembly to position it above the purple vertical rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1611, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1612, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple vertical rod without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1718, "end_step": 1724, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: press: Right hand applies downward vertical force on the green hexagonal block to press it further along the purple vertical rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical component mounted on the purple peg of the wooden assembly base, separating fully from the component."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut placed on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1785, "end_step": 1851, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut on the table, closing fingers and adjusting contact points to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 1852, "end_step": 1881, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, moving it upward and toward the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 1882, "end_step": 2009, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden stand, lowering the block while making slight positional adjustments to fit it onto the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves rightward and downward toward the upper white hexagonal block on the dark table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 2070, "end_step": 2144, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand closes fingers around the upper white hexagonal block on the dark table surface, adjusting finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface, moving the block upward and slightly leftward toward the purple vertical rod mounted on the wooden block tray."}, {"label": "subtasks", "start_step": 2182, "end_step": 2287, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple vertical rod, sliding the block down the rod until it rests securely on the wooden block tray to form the fitted assembly."}, {"label": "subtasks", "start_step": 2288, "end_step": 2294, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: release: Right hand opens its fingers to release the seated white hexagonal block, completing full separation from the block surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2339, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2340, "end_step": 2369, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut, adjusting finger contact positions to form a stable grip while the nut stays on the table surface."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the dark table surface, with no observable movement of the hand, fingers or the grasped nut."}, {"label": "subtasks", "start_step": 2400, "end_step": 2421, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table surface and transports it upward to the position directly above the purple rod placed on the wooden rack."}, {"label": "subtasks", "start_step": 2422, "end_step": 2519, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align it with the purple rod and fits the block down onto the rod to form the assembled state."}, {"label": "subtasks", "start_step": 2520, "end_step": 2527, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: release: Right hand opens its fingers to release the white hexagonal block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 2528, "end_step": 2571, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: reach: Right hand moves diagonally downward and rightward toward the green holed block on the black table surface, staying empty during the movement."}, {"label": "subtasks", "start_step": 2572, "end_step": 2631, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: grasp: Right hand adjusts finger positions around the green holed block on the black table surface to establish a grip, with fingers in contact with the block."}, {"label": "subtasks", "start_step": 2632, "end_step": 2647, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2648, "end_step": 2677, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: transport: Right hand carries the lifted green block forward and upward toward the target position above the wooden block rack."}, {"label": "subtasks", "start_step": 2678, "end_step": 2984, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align it with the purple cylindrical target on the rack, then lowers the block to fit onto the target cylinder."}, {"label": "subtasks", "start_step": 2985, "end_step": 3007, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: release: Right hand opens its fingers gradually to release the fitted green block, separating the hand from the block."}, {"label": "subtasks", "start_step": 3008, "end_step": 3089, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without contacting any operational object and without observable movement. | Right hand: retreat: Right hand moves away from the wooden block rack with an empty hand, retreating toward the upper right area of the workspace."}], "episode_index": 19}
+{"source_uid": "787f0dd8ca193c8c", "num_frames": 3835, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty upward from the lower left initial position to the left front home position and stops there. | Right hand: reach: Right hand moves empty from the right initial position toward the leftmost green hexagonal block on the front table surface, rotating its wrist about 90 degrees to face downward during movement, approaching the block without contact."}, {"label": "goal", "start_step": 0, "end_step": 237, "id": "5a3e3453-885e-4023-9474-e9183791a063"}, {"label": "valid", "start_step": 0, "end_step": 3803, "id": "sMSpbPUAqhyGgfJ-98wyv"}, {"label": "subtasks", "start_step": 38, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves empty from the right initial position toward the leftmost green hexagonal block on the front table surface, rotating its wrist about 90 degrees to face downward during movement, approaching the block without contact."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost green hexagonal block on the table, adjusting the grip slightly to stabilize the block."}, {"label": "subtasks", "start_step": 158, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it backward toward the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple rod and moves it downward to mate the block with the rod."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 238, "end_step": 549, "id": "1fe75579-8fda-443c-b701-b9261c6603d6"}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 300, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and inserts it downwards onto the peg for assembly adjustment."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple rod of the base and releases the block."}, {"label": "goal", "start_step": 550, "end_step": 711, "id": "91b89573-ee1c-498b-89a0-1737df343d3c"}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the left of the green cubic block."}, {"label": "subtasks", "start_step": 622, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the green support block, with fingers closing to adjust and form a stable grip."}, {"label": "goal", "start_step": 712, "end_step": 915, "id": "0def94cf-0892-4e88-8e3d-7cc39511557f"}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block upward, making it completely leave the green support block on the table."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: transport: Right hand holds the white hexagonal block and moves upward and leftward to the position above the leftmost purple vertical post."}, {"label": "subtasks", "start_step": 780, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post and moves it downward to fit the block onto the post for assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white hexagonal block fitted on the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 916, "end_step": 1032, "id": "4cb76808-b2a5-4db4-9985-eb0b8cd6c7bf"}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the left side of the black work surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the black work surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1033, "end_step": 1236, "id": "6ffce847-103a-4a1e-b924-163fc4f2e71d"}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the area above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost peg of the wooden rack and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1132, "end_step": 1229, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white block on the leftmost green-based pillar, with fingers opening and moving upward away from the block."}, {"label": "goal", "start_step": 1237, "end_step": 1404, "id": "878578a3-a8ff-412b-9e33-51fd3933de43"}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves down and right toward the small white block on the black table surface while empty."}, {"label": "subtasks", "start_step": 1320, "end_step": 1417, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the small white block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1405, "end_step": 1569, "id": "3a7d448f-35ff-4bb0-b9dd-57af3c60f1ca"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers, separating from the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white block on top of the column of the wooden base, with fingers opening gradually."}, {"label": "goal", "start_step": 1570, "end_step": 1668, "id": "22caa718-22d3-45e8-81ee-764a443c6fc0"}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward from the upper column area toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1687, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1669, "end_step": 2181, "id": "3a779dee-2f0b-41e8-b764-aa9c9d37b641"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the peg board at the back."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the middle purple peg and inserts it downwards to complete initial mating."}, {"label": "subtasks", "start_step": 1762, "end_step": 1821, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1822, "end_step": 1881, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the green hexagonal block by opening its fingers gradually."}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block again by closing its fingers around the block."}, {"label": "subtasks", "start_step": 1928, "end_step": 2159, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: push: Right hand pushes the green hexagonal block downwards along the purple peg."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate_release: Right hand fits the green hexagonal block onto the purple peg and releases its grip."}, {"label": "goal", "start_step": 2182, "end_step": 2319, "id": "e2f82cca-9097-4d52-9890-5c66229fb85d"}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the dark table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2320, "end_step": 2538, "id": "8d75872d-ea93-4828-a752-498cfc55ebec"}, {"label": "subtasks", "start_step": 2340, "end_step": 2391, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2392, "end_step": 2534, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod on the wooden base by aligning the hole and inserting the block downwards."}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the top white block on the rightmost column of the wooden base."}, {"label": "goal", "start_step": 2539, "end_step": 2679, "id": "e41ba5e6-8261-4fea-83ab-08a6c35dd8ee"}, {"label": "subtasks", "start_step": 2550, "end_step": 2587, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand reaches downward toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2588, "end_step": 2624, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 2625, "end_step": 2669, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal cylinder on the dark table, with fingers slightly adjusting to stabilize the grip."}, {"label": "goal", "start_step": 2680, "end_step": 3024, "id": "aea2cba6-78d0-4aa3-81b1-49c3492d6401"}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal cylinder from the table surface until it fully leaves the support."}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: transport: Right hand transports the white hexagonal cylinder upward and leftward to the position right above the purple rod."}, {"label": "subtasks", "start_step": 2745, "end_step": 2961, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple rod and lowers it to fit onto the rod, adjusting the assembly position."}, {"label": "subtasks", "start_step": 2962, "end_step": 3014, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal cylinder fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 3015, "end_step": 3044, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical rod on the right side of the wooden base."}, {"label": "goal", "start_step": 3025, "end_step": 3255, "id": "f6aa2eb5-caad-4135-af09-579b087c0b92"}, {"label": "subtasks", "start_step": 3045, "end_step": 3081, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 3082, "end_step": 3149, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3150, "end_step": 3254, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: other:adjust_held_block: Right hand holds the white hexagonal block and makes small position and orientation adjustments above the table surface."}, {"label": "subtasks", "start_step": 3255, "end_step": 3299, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cube from the black tabletop and transports it to the position above the purple rod on the wooden rack."}, {"label": "goal", "start_step": 3256, "end_step": 3462, "id": "71871c60-82a0-4ed4-871d-ba65530fa39a"}, {"label": "subtasks", "start_step": 3300, "end_step": 3397, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand mates the white cube with the purple rod on the wooden rack by lowering and fitting the cube onto the rod."}, {"label": "subtasks", "start_step": 3398, "end_step": 3434, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white cube on the purple rod, with fingers opening to separate from the cube."}, {"label": "subtasks", "start_step": 3435, "end_step": 3449, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: retreat: Right hand retreats from the assembly position toward the right lower side of the frame."}, {"label": "subtasks", "start_step": 3450, "end_step": 3479, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward toward the green cubic object on the dark tabletop."}, {"label": "goal", "start_step": 3463, "end_step": 3549, "id": "f080a1b1-ee34-4664-b926-ab3198897b20"}, {"label": "subtasks", "start_step": 3480, "end_step": 3501, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic object on the dark tabletop."}, {"label": "subtasks", "start_step": 3502, "end_step": 3539, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the green cubic object on the dark tabletop without moving."}, {"label": "subtasks", "start_step": 3540, "end_step": 3569, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the green cube on the black table, with fingers adjusting to stabilize the grip while the cube stays on the table surface."}, {"label": "goal", "start_step": 3550, "end_step": 3765, "id": "a5d7fc55-52d1-4de8-b4e6-cd5c485ef200"}, {"label": "subtasks", "start_step": 3570, "end_step": 3614, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward to the position above the target white post on the wooden base."}, {"label": "subtasks", "start_step": 3615, "end_step": 3779, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand mates the green cube with the target white post by aligning the cube's central hole with the post and lowering the cube down onto the post to complete the fitting."}, {"label": "home", "start_step": 3804, "end_step": 3834, "id": "B10tVAiRiDWtqWBkljBYS"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty upward from the lower left initial position to the left front home position and stops there. | Right hand: reach: Right hand moves empty from the right initial position toward the leftmost green hexagonal block on the front table surface, rotating its wrist about 90 degrees to face downward during movement, approaching the block without contact."}, {"label": "subtasks", "start_step": 38, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves empty from the right initial position toward the leftmost green hexagonal block on the front table surface, rotating its wrist about 90 degrees to face downward during movement, approaching the block without contact."}, {"label": "subtasks", "start_step": 120, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the leftmost green hexagonal block on the table, adjusting the grip slightly to stabilize the block."}, {"label": "subtasks", "start_step": 158, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it backward toward the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple rod and moves it downward to mate the block with the rod."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 300, "end_step": 539, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and inserts it downwards onto the peg for assembly adjustment."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple rod of the base and releases the block."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table to the left of the green cubic block."}, {"label": "subtasks", "start_step": 622, "end_step": 667, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting the grip."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the green support block, with fingers closing to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal block upward, making it completely leave the green support block on the table."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: transport: Right hand holds the white hexagonal block and moves upward and leftward to the position above the leftmost purple vertical post."}, {"label": "subtasks", "start_step": 780, "end_step": 914, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post and moves it downward to fit the block onto the post for assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white hexagonal block fitted on the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the left side of the black work surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the black work surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and rightward to the area above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost peg of the wooden rack and fits it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1132, "end_step": 1229, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white block on the leftmost green-based pillar, with fingers opening and moving upward away from the block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves down and right toward the small white block on the black table surface while empty."}, {"label": "subtasks", "start_step": 1320, "end_step": 1417, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the small white block on the black table surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1484, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers, separating from the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: idle: Right hand remains empty above the wooden base without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white block on top of the column of the wooden base, with fingers opening gradually."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward from the upper column area toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1612, "end_step": 1687, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it towards the peg board at the back."}, {"label": "subtasks", "start_step": 1718, "end_step": 1761, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the middle purple peg and inserts it downwards to complete initial mating."}, {"label": "subtasks", "start_step": 1762, "end_step": 1821, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1822, "end_step": 1881, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the green hexagonal block by opening its fingers gradually."}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the green hexagonal block again by closing its fingers around the block."}, {"label": "subtasks", "start_step": 1928, "end_step": 2159, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: push: Right hand pushes the green hexagonal block downwards along the purple peg."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate_release: Right hand fits the green hexagonal block onto the purple peg and releases its grip."}, {"label": "subtasks", "start_step": 2205, "end_step": 2264, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2310, "end_step": 2339, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the dark table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2340, "end_step": 2391, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2392, "end_step": 2534, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod on the wooden base by aligning the hole and inserting the block downwards."}, {"label": "subtasks", "start_step": 2535, "end_step": 2549, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the top white block on the rightmost column of the wooden base."}, {"label": "subtasks", "start_step": 2550, "end_step": 2587, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand reaches downward toward the upper white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2588, "end_step": 2624, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the upper white hexagonal block on the table with fingers closing."}, {"label": "subtasks", "start_step": 2625, "end_step": 2669, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the upper white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal cylinder on the dark table, with fingers slightly adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2700, "end_step": 2714, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift: Right hand lifts the white hexagonal cylinder from the table surface until it fully leaves the support."}, {"label": "subtasks", "start_step": 2715, "end_step": 2744, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: transport: Right hand transports the white hexagonal cylinder upward and leftward to the position right above the purple rod."}, {"label": "subtasks", "start_step": 2745, "end_step": 2961, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple rod and lowers it to fit onto the rod, adjusting the assembly position."}, {"label": "subtasks", "start_step": 2962, "end_step": 3014, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal cylinder fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 3015, "end_step": 3044, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand mates the white hexagonal block onto the purple vertical rod on the right side of the wooden base."}, {"label": "subtasks", "start_step": 3045, "end_step": 3081, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 3082, "end_step": 3149, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3150, "end_step": 3254, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: other:adjust_held_block: Right hand holds the white hexagonal block and makes small position and orientation adjustments above the table surface."}, {"label": "subtasks", "start_step": 3255, "end_step": 3299, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cube from the black tabletop and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 3300, "end_step": 3397, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand mates the white cube with the purple rod on the wooden rack by lowering and fitting the cube onto the rod."}, {"label": "subtasks", "start_step": 3398, "end_step": 3434, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: release: Right hand releases the white cube on the purple rod, with fingers opening to separate from the cube."}, {"label": "subtasks", "start_step": 3435, "end_step": 3449, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: retreat: Right hand retreats from the assembly position toward the right lower side of the frame."}, {"label": "subtasks", "start_step": 3450, "end_step": 3479, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: reach: Right hand moves downward toward the green cubic object on the dark tabletop."}, {"label": "subtasks", "start_step": 3480, "end_step": 3501, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic object on the dark tabletop."}, {"label": "subtasks", "start_step": 3502, "end_step": 3539, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: hold: Right hand holds the green cubic object on the dark tabletop without moving."}, {"label": "subtasks", "start_step": 3540, "end_step": 3569, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: grasp: Right hand grasps the green cube on the black table, with fingers adjusting to stabilize the grip while the cube stays on the table surface."}, {"label": "subtasks", "start_step": 3570, "end_step": 3614, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green cube off the table and transports it upward and leftward to the position above the target white post on the wooden base."}, {"label": "subtasks", "start_step": 3615, "end_step": 3779, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left front home position without any observable movement. | Right hand: mate: Right hand mates the green cube with the target white post by aligning the cube's central hole with the post and lowering the cube down onto the post to complete the fitting."}], "episode_index": 20}
+{"source_uid": "a9eebee9221cfca2", "num_frames": 3399, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block placed in front of the wooden peg rack on the table."}, {"label": "goal", "start_step": 0, "end_step": 177, "id": "15df6725-db7e-4ae5-b033-378fb2550ee9"}, {"label": "valid", "start_step": 0, "end_step": 3370, "id": "iJa7BNV8VWJN5KNnVTTl4"}, {"label": "subtasks", "start_step": 112, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upwards off the black table surface."}, {"label": "goal", "start_step": 178, "end_step": 303, "id": "52de6906-83ad-4d5c-9af3-385db1d445e6"}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple peg by aligning and fitting it onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to secure it."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the mounting rack, adjusting the block to fit properly."}, {"label": "goal", "start_step": 304, "end_step": 426, "id": "f356b8ee-9f47-4854-8aa2-59d8cffb5d23"}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downward from the mounting rack to the position above the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 352, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 427, "end_step": 624, "id": "60a78764-3c7b-4507-8c52-3c50c5a32492"}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and presses it down onto the rod for assembly."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 625, "end_step": 765, "id": "51e3ba76-4693-45a4-9355-52b4452732fd"}, {"label": "subtasks", "start_step": 652, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the gray table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the gray table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 766, "end_step": 984, "id": "baa77e12-7bd9-4261-84f4-67930f123b09"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align it with the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the white hexagonal block downward along the purple rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward away from the white hexagonal block and the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 985, "end_step": 1086, "id": "2a0e8620-aae4-4edd-b59c-37cdd6095911"}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white block on the black tabletop near the wooden base, adjusting fingers to form stable grip."}, {"label": "goal", "start_step": 1087, "end_step": 1311, "id": "34938d88-ba0d-42b1-8a02-cdba1a428805"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white block up off the black tabletop."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the purple rod, inserting the block onto the rod and pressing it down to complete assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green block on the table, without contacting the block."}, {"label": "goal", "start_step": 1312, "end_step": 1419, "id": "172e5c8e-f518-4a80-bb77-84158b77c9a1"}, {"label": "subtasks", "start_step": 1358, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1420, "end_step": 1605, "id": "141b4731-93c4-44d3-b284-bedcb5e01fd8"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it to the top of the post on the wooden rack."}, {"label": "subtasks", "start_step": 1462, "end_step": 1634, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the post on the wooden rack and inserts it onto the post."}, {"label": "goal", "start_step": 1606, "end_step": 1740, "id": "9ce22534-ec44-46ba-b47c-6a86787e8fc2"}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1761, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1741, "end_step": 2403, "id": "bc0ab469-8b72-4910-bcff-7e2219c36e3a"}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 2039, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip after mating it onto the peg."}, {"label": "subtasks", "start_step": 2055, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the second white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the second white hexagonal block on the tabletop, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the second white hexagonal block off the tabletop and transports it towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2280, "end_step": 2391, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the second white hexagonal block with the target peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 2392, "end_step": 2399, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the second white hexagonal block after fitting it onto the peg."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block near the wooden block set."}, {"label": "goal", "start_step": 2404, "end_step": 2502, "id": "0247fc2f-a4b8-49aa-8c4a-8dd09e31016b"}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 2503, "end_step": 2719, "id": "518a4f06-edaf-4c50-979a-c66c211d4d2d"}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the table surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2580, "end_step": 2714, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2715, "end_step": 2774, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the desktop without contacting the block."}, {"label": "goal", "start_step": 2720, "end_step": 2835, "id": "49bb0109-a163-4dc6-82d6-b24b59cb0d7a"}, {"label": "subtasks", "start_step": 2775, "end_step": 2864, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the desktop, with fingers adjusting to form stable grasp."}, {"label": "goal", "start_step": 2836, "end_step": 3045, "id": "feba28fd-19a1-4a33-be2f-d9df90221fa3"}, {"label": "subtasks", "start_step": 2865, "end_step": 2879, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block off the table surface."}, {"label": "subtasks", "start_step": 2880, "end_step": 2894, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block towards the shelf with the purple rod."}, {"label": "subtasks", "start_step": 2895, "end_step": 3044, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block placed on the purple rod."}, {"label": "goal", "start_step": 3046, "end_step": 3150, "id": "a51e3ecf-5a0a-476d-b8d4-a6aaba66c539"}, {"label": "subtasks", "start_step": 3060, "end_step": 3097, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the area near the white bottle rack towards the green cubic object on the table."}, {"label": "subtasks", "start_step": 3098, "end_step": 3134, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cubic object, adjusts finger position to form a stable grip on the object."}, {"label": "subtasks", "start_step": 3135, "end_step": 3149, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic object slightly upward while the object remains in contact with the table surface."}, {"label": "subtasks", "start_step": 3150, "end_step": 3171, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black table surface."}, {"label": "goal", "start_step": 3151, "end_step": 3330, "id": "a5cbd446-f391-491d-a5db-8a6f5f4f5c4b"}, {"label": "subtasks", "start_step": 3172, "end_step": 3194, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the white bottle rack."}, {"label": "subtasks", "start_step": 3195, "end_step": 3329, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle with a purple protruding rod on the rack."}, {"label": "subtasks", "start_step": 3330, "end_step": 3344, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green block onto the top of the target white bottle and releases its grip."}, {"label": "home", "start_step": 3371, "end_step": 3398, "id": "z-vJje9GmcF5Urwk0B9zU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block placed in front of the wooden peg rack on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upwards off the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block with the purple peg by aligning and fitting it onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 277, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to secure it."}, {"label": "subtasks", "start_step": 278, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the purple peg without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the mounting rack, adjusting the block to fit properly."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats downward from the mounting rack to the position above the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 352, "end_step": 449, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut completely off the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal nut to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 614, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and presses it down onto the rod for assembly."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 652, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the gray table surface."}, {"label": "subtasks", "start_step": 682, "end_step": 787, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the gray table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it above the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align it with the front purple rod on the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the white hexagonal block downward along the purple rod until it rests on the green block below."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves upward away from the white hexagonal block and the wooden base."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1034, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white block on the black tabletop near the wooden base, adjusting fingers to form stable grip."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white block up off the black tabletop."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1304, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the purple rod, inserting the block onto the rod and pressing it down to complete assembly."}, {"label": "subtasks", "start_step": 1305, "end_step": 1357, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green block on the table, without contacting the block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1439, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it to the top of the post on the wooden rack."}, {"label": "subtasks", "start_step": 1462, "end_step": 1634, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with the post on the wooden rack and inserts it onto the post."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1761, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1762, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 2039, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block from its grip after mating it onto the peg."}, {"label": "subtasks", "start_step": 2055, "end_step": 2159, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the second white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2160, "end_step": 2219, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the second white hexagonal block on the tabletop, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the second white hexagonal block off the tabletop and transports it towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 2280, "end_step": 2391, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the second white hexagonal block with the target peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 2392, "end_step": 2399, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the second white hexagonal block after fitting it onto the peg."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block near the wooden block set."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2520, "end_step": 2534, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up away from the table surface."}, {"label": "subtasks", "start_step": 2535, "end_step": 2579, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2580, "end_step": 2714, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2715, "end_step": 2774, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the desktop without contacting the block."}, {"label": "subtasks", "start_step": 2775, "end_step": 2864, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the desktop, with fingers adjusting to form stable grasp."}, {"label": "subtasks", "start_step": 2865, "end_step": 2879, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block off the table surface."}, {"label": "subtasks", "start_step": 2880, "end_step": 2894, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block towards the shelf with the purple rod."}, {"label": "subtasks", "start_step": 2895, "end_step": 3044, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple rod and inserts it downwards onto the rod."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block placed on the purple rod."}, {"label": "subtasks", "start_step": 3060, "end_step": 3097, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the area near the white bottle rack towards the green cubic object on the table."}, {"label": "subtasks", "start_step": 3098, "end_step": 3134, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cubic object, adjusts finger position to form a stable grip on the object."}, {"label": "subtasks", "start_step": 3135, "end_step": 3149, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic object slightly upward while the object remains in contact with the table surface."}, {"label": "subtasks", "start_step": 3150, "end_step": 3171, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 3172, "end_step": 3194, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it toward the white bottle rack."}, {"label": "subtasks", "start_step": 3195, "end_step": 3329, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle with a purple protruding rod on the rack."}, {"label": "subtasks", "start_step": 3330, "end_step": 3344, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green block onto the top of the target white bottle and releases its grip."}], "episode_index": 21}
+{"source_uid": "d7393521e5a4da8d", "num_frames": 3120, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block near the wooden peg base, with fingers held in an extended posture."}, {"label": "goal", "start_step": 0, "end_step": 219, "id": "7b2efaf2-f16b-4e21-b57f-eb1dce93a970"}, {"label": "valid", "start_step": 0, "end_step": 3088, "id": "xqHVuNgRLa0TeoITlkek9"}, {"label": "subtasks", "start_step": 105, "end_step": 247, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table surface, making small continuous adjustments of fingers and wrist to form a grip on the block."}, {"label": "goal", "start_step": 220, "end_step": 348, "id": "3751d0fe-09ef-40e5-9c92-81a07d4c6606"}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, fully separating the block from the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block upward to position it directly over the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, sliding the block down the peg to seat it on the existing block stack."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the seated green hexagonal block on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand grips the white hexagonal block on the wooden peg of the rack, lifting it upward to fully separate the block from the supporting peg."}, {"label": "goal", "start_step": 349, "end_step": 462, "id": "c425200b-786b-41cc-9363-6db606271b54"}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block downward and backward toward the area behind the wooden rack."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions around the front white hexagonal block resting on the table, closing fingers gradually to establish a firm grip on the block."}, {"label": "goal", "start_step": 463, "end_step": 585, "id": "11f43aec-0123-402a-a508-c4755832e4f1"}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and slides the block down the rod to fit onto the green block fixed on the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper wooden block assembly area toward the left white hexagonal block on the dark work surface, staying empty as it approaches the target."}, {"label": "goal", "start_step": 586, "end_step": 702, "id": "437e28cd-446d-4cf2-a79a-6c7637d9af75"}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the left white hexagonal block on the dark work surface, making slight finger position adjustments to form a grip on the block."}, {"label": "goal", "start_step": 703, "end_step": 876, "id": "4610771b-1d54-403b-9840-30973c8f4525"}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white-topped green-based block completely off the table surface and moves it upward toward the target purple peg on the light wooden block base."}, {"label": "subtasks", "start_step": 772, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the grasped block with the target purple peg and lowers the block to fit it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: press: Right hand presses the white hexagonal block on the leftmost purple rod downward to seat it firmly on the underlying green block."}, {"label": "goal", "start_step": 877, "end_step": 1014, "id": "2a72ec9f-0adb-4a1f-8649-7b97a6816ce5"}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the leftmost assembly rod toward the loose white hexagonal nut positioned in front of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut in front of the wooden base, making small adjustments to finger positions to establish a stable grip."}, {"label": "goal", "start_step": 1015, "end_step": 1158, "id": "a97202bb-c13f-40d7-8d0e-5ad65511bbcb"}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves it upward to position it directly above the right purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the right purple peg and lowers the block, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate_release: Right hand aligns and seats the white cylindrical block onto the purple peg of the wooden assembly, releasing grip on the secured block."}, {"label": "goal", "start_step": 1159, "end_step": 1266, "id": "a53315eb-6925-40a2-9dc9-dc6059732d13"}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward to approach the green hexagonal block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1289, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block on the table to form a stable grasp."}, {"label": "goal", "start_step": 1267, "end_step": 1473, "id": "49692b80-23b4-45a7-affb-4ae7df4f4d25"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand moves upward to lift the grasped green block completely off the dark table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green block upward toward the purple peg mounted on the wooden base, positioning the block above the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the green block stationary directly above the purple peg without observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 1388, "end_step": 1469, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, lowers the block to slide it onto the peg to form the mated assembly."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: place: Right hand holds the green block and moves it downward to place it onto the purple peg on the wooden assembly base until the block is stably supported."}, {"label": "goal", "start_step": 1474, "end_step": 1593, "id": "c48dcfe3-0307-45b1-93a3-3ee82f95ec80"}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the assembly base area toward the white hexagonal block on the dark work surface, remaining empty before making contact with the block."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the dark work surface, fingers close around the block with small adjustments to establish a stable grip."}, {"label": "goal", "start_step": 1594, "end_step": 1788, "id": "9bfbb142-84da-4844-b162-a83642e5ab6c"}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1769, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and moves the block downward along the rod to fit it into place on the assembly."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to separate from the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves from above the stacked blocks toward the front white hexagonal nut next to the wooden block stand, with fingers open."}, {"label": "goal", "start_step": 1789, "end_step": 1884, "id": "e0367596-b78c-43d7-bdcd-d173efbf5c14"}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut next to the wooden block stand, making slight adjustments to establish a stable grip."}, {"label": "goal", "start_step": 1885, "end_step": 2088, "id": "abcf9cef-b80c-46db-bd31-b30f19903805"}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the gripped white hexagonal object upward, fully separating it from the supporting table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the white hexagonal object upward and toward the purple vertical rod on the wooden block holder, stopping directly above the rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 2084, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal object with the purple vertical rod, then moves the object downward to fit it onto the rod to establish the assembled connection."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table near the wooden block stand."}, {"label": "goal", "start_step": 2089, "end_step": 2199, "id": "e224e325-7e1f-4312-ba89-002e993be44b"}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the small white block resting on the table adjacent to the wooden roll stand to form a stable grip, with the block remaining on the table surface."}, {"label": "goal", "start_step": 2200, "end_step": 2472, "id": "6678879e-4087-417d-b46f-8441b6030cb1"}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand moves upward with the grasped white block until the block is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white block through the air to position it directly above the purple rod mounted on the wooden stand."}, {"label": "subtasks", "start_step": 2258, "end_step": 2369, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central opening of the white block with the purple rod and lowers the block to fit it onto the rod, establishing the assembled connection between the two parts."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the white block fitted onto the purple rod with no observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2511, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward while empty, approaching the green hollow cube placed on the dark gray work surface."}, {"label": "goal", "start_step": 2473, "end_step": 2565, "id": "3ce3e1de-4540-4445-9bdd-f92f659aafa9"}, {"label": "subtasks", "start_step": 2512, "end_step": 2564, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the green hollow cube, making small adjustments to finger contact positions to establish a grip, with the cube still resting on the work surface."}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand holds the green block on the black table surface and lifts it upward until the block is fully separated from the table surface."}, {"label": "goal", "start_step": 2566, "end_step": 3054, "id": "7506fbe9-d54d-4618-83ae-9b10a32551ed"}, {"label": "subtasks", "start_step": 2588, "end_step": 2631, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green block, moving upward and toward the purple cylinder on the wooden pallet until the block is positioned directly above the cylinder."}, {"label": "subtasks", "start_step": 2632, "end_step": 2677, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the green block with the purple cylinder below and moves the block downward to fit onto the cylinder, establishing initial assembly contact."}, {"label": "subtasks", "start_step": 2678, "end_step": 3037, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand maintains grip on the green block, making slight observable adjustments to finger positions and wrist angle to reposition the block relative to the purple cylinder."}, {"label": "subtasks", "start_step": 3038, "end_step": 3059, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: release: Right hand gradually opens its fingers to release the green block, separating from the block which rests against the adjacent white bottle on the wooden pallet."}, {"label": "home", "start_step": 3089, "end_step": 3119, "id": "4bSPt44GgPFzz5z1xwCqu"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block near the wooden peg base, with fingers held in an extended posture."}, {"label": "subtasks", "start_step": 105, "end_step": 247, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table surface, making small continuous adjustments of fingers and wrist to form a grip on the block."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, fully separating the block from the table surface."}, {"label": "subtasks", "start_step": 270, "end_step": 291, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green hexagonal block upward to position it directly over the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 292, "end_step": 329, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg, sliding the block down the peg to seat it on the existing block stack."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the seated green hexagonal block on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand grips the white hexagonal block on the wooden peg of the rack, lifting it upward to fully separate the block from the supporting peg."}, {"label": "subtasks", "start_step": 375, "end_step": 397, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block downward and backward toward the area behind the wooden rack."}, {"label": "subtasks", "start_step": 398, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions around the front white hexagonal block resting on the table, closing fingers gradually to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and slides the block down the rod to fit onto the green block fixed on the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the upper wooden block assembly area toward the left white hexagonal block on the dark work surface, staying empty as it approaches the target."}, {"label": "subtasks", "start_step": 638, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the left white hexagonal block on the dark work surface, making slight finger position adjustments to form a grip on the block."}, {"label": "subtasks", "start_step": 735, "end_step": 771, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white-topped green-based block completely off the table surface and moves it upward toward the target purple peg on the light wooden block base."}, {"label": "subtasks", "start_step": 772, "end_step": 869, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the grasped block with the target purple peg and lowers the block to fit it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 870, "end_step": 921, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: press: Right hand presses the white hexagonal block on the leftmost purple rod downward to seat it firmly on the underlying green block."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the leftmost assembly rod toward the loose white hexagonal nut positioned in front of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 1041, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the loose white hexagonal nut in front of the wooden base, making small adjustments to finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the dark table surface and moves it upward to position it directly above the right purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the right purple peg and lowers the block, making small positional adjustments to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate_release: Right hand aligns and seats the white cylindrical block onto the purple peg of the wooden assembly, releasing grip on the secured block."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward to approach the green hexagonal block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1289, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand moves upward to lift the grasped green block completely off the dark table surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green block upward toward the purple peg mounted on the wooden base, positioning the block above the peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1387, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the green block stationary directly above the purple peg without observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 1388, "end_step": 1469, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green block with the purple peg, lowers the block to slide it onto the peg to form the mated assembly."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: place: Right hand holds the green block and moves it downward to place it onto the purple peg on the wooden assembly base until the block is stably supported."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward from the assembly base area toward the white hexagonal block on the dark work surface, remaining empty before making contact with the block."}, {"label": "subtasks", "start_step": 1538, "end_step": 1604, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the dark work surface, fingers close around the block with small adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the purple rod mounted on the wooden assembly base."}, {"label": "subtasks", "start_step": 1650, "end_step": 1769, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and moves the block downward along the rod to fit it into place on the assembly."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: release: Right hand opens its fingers to separate from the white hexagonal block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves from above the stacked blocks toward the front white hexagonal nut next to the wooden block stand, with fingers open."}, {"label": "subtasks", "start_step": 1830, "end_step": 1897, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut next to the wooden block stand, making slight adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 1898, "end_step": 1911, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand lifts the gripped white hexagonal object upward, fully separating it from the supporting table surface."}, {"label": "subtasks", "start_step": 1912, "end_step": 1941, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the white hexagonal object upward and toward the purple vertical rod on the wooden block holder, stopping directly above the rod."}, {"label": "subtasks", "start_step": 1942, "end_step": 2084, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the white hexagonal object with the purple vertical rod, then moves the object downward to fit it onto the rod to establish the assembled connection."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the dark table near the wooden block stand."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger contact positions to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block resting on the table surface without observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the small white block resting on the table adjacent to the wooden roll stand to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand moves upward with the grasped white block until the block is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted white block through the air to position it directly above the purple rod mounted on the wooden stand."}, {"label": "subtasks", "start_step": 2258, "end_step": 2369, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the central opening of the white block with the purple rod and lowers the block to fit it onto the rod, establishing the assembled connection between the two parts."}, {"label": "subtasks", "start_step": 2370, "end_step": 2459, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: hold: Right hand holds the white block fitted onto the purple rod with no observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2511, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: reach: Right hand moves downward while empty, approaching the green hollow cube placed on the dark gray work surface."}, {"label": "subtasks", "start_step": 2512, "end_step": 2564, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand closes its fingers around the green hollow cube, making small adjustments to finger contact positions to establish a grip, with the cube still resting on the work surface."}, {"label": "subtasks", "start_step": 2565, "end_step": 2587, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: lift: Right hand holds the green block on the black table surface and lifts it upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2588, "end_step": 2631, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: transport: Right hand carries the lifted green block, moving upward and toward the purple cylinder on the wooden pallet until the block is positioned directly above the cylinder."}, {"label": "subtasks", "start_step": 2632, "end_step": 2677, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: mate: Right hand aligns the green block with the purple cylinder below and moves the block downward to fit onto the cylinder, establishing initial assembly contact."}, {"label": "subtasks", "start_step": 2678, "end_step": 3037, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: grasp: Right hand maintains grip on the green block, making slight observable adjustments to finger positions and wrist angle to reposition the block relative to the purple cylinder."}, {"label": "subtasks", "start_step": 3038, "end_step": 3059, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement or contact with objects. | Right hand: release: Right hand gradually opens its fingers to release the green block, separating from the block which rests against the adjacent white bottle on the wooden pallet."}], "episode_index": 22}
+{"source_uid": "5eedac17893957af", "num_frames": 2986, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:reposition: Left hand moves upward from the lower left area to the upper left side of the workspace. | Right hand: reach: Right hand moves leftward and upward from the right side of the workspace to approach the white hexagonal block on top of the leftmost purple rod."}, {"label": "goal", "start_step": 0, "end_step": 255, "id": "781e1129-6f04-4e4e-9bee-723beb1d070e"}, {"label": "valid", "start_step": 0, "end_step": 2954, "id": "XJ-muylcFV5lc8pAz7QX5"}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: reach: Right hand moves leftward and upward from the right side of the workspace to approach the white hexagonal block on top of the leftmost purple rod."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on top of the leftmost purple rod."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, separating it from the leftmost purple rod."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves leftward and downward to above the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 142, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the hole of the green hexagonal block and inserts it downwards into the green block."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted in the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 256, "end_step": 417, "id": "e7e167ab-232f-41c0-98ee-f38e445f7a27"}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and fits it downward onto the peg."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate_release: Right hand inserts the white hollow hexagonal block onto the leftmost vertical peg of the pegboard and releases the block."}, {"label": "goal", "start_step": 418, "end_step": 531, "id": "dd652858-7ff0-40a8-a2e1-1145c4ef6a39"}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the upper-left area of the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 532, "end_step": 687, "id": "19866782-09b3-4271-a311-047877be65f8"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple peg on the wooden base by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost front purple peg of the wooden base."}, {"label": "goal", "start_step": 688, "end_step": 858, "id": "b30dafdf-f904-45d6-81c9-071660dd04ce"}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost front purple peg, fingers open and lift slightly."}, {"label": "subtasks", "start_step": 712, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the table surface, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left side of the table surface without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: lift: Right hand lifts the white perforated hexagonal block from the black table surface."}, {"label": "goal", "start_step": 859, "end_step": 1179, "id": "8f0e92d7-0cbf-48ab-9b6f-131ab3054869"}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: transport: Right hand transports the white perforated hexagonal block upward and toward the wooden pegboard with purple vertical posts."}, {"label": "subtasks", "start_step": 900, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand mates the white perforated hexagonal block onto the leftmost purple post of the pegboard by moving downward to fit the block onto the post."}, {"label": "subtasks", "start_step": 975, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the white perforated hexagonal block on the leftmost purple post of the pegboard without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: release: Right hand releases the white perforated hexagonal block by opening its fingers and separating from the block."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00028", "text": "Left hand: retreat: Left hand moves upward away from the white block on the leftmost purple peg. | Right hand: reach: Right hand moves down and left toward the white hexagonal block on the table above the green cubic block."}, {"label": "goal", "start_step": 1180, "end_step": 1308, "id": "55da6c89-f06f-4eaa-96ca-f871c05632ce"}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves down and left toward the white hexagonal block on the table above the green cubic block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1309, "end_step": 1473, "id": "a4d9cf26-b01a-418b-8041-b80ec7139d90"}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts and moves the white hexagonal block upward from the top of the middle green cube to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand mates the white hexagonal block with the middle purple peg by aligning its hole with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: press_release: Right hand presses the white hexagonal block down along the middle purple peg to the bottom and opens its fingers to release the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downward from the upper pegboard area toward the green cubic block on the table."}, {"label": "goal", "start_step": 1474, "end_step": 1575, "id": "0a5e1b45-b1f1-464d-8a43-301dc65c914f"}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip while the block stays on the table surface."}, {"label": "goal", "start_step": 1576, "end_step": 1743, "id": "f1979caf-72a8-4b94-b82f-0e79dba98f1e"}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward and backward to the position above the target peg on the rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and moves it downward to fit the block onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the rack without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: release: Right hand releases the green block on the upper block set, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1744, "end_step": 1857, "id": "b36ef223-9283-4499-ab38-80f6531b985f"}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the workbench surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the workbench, with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the white hexagonal block on the workbench without moving."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1858, "end_step": 1998, "id": "7de88c21-77ad-41c5-a663-0ae913c72023"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and leftward toward the wooden rack with stacked blocks."}, {"label": "subtasks", "start_step": 1898, "end_step": 1987, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the corresponding peg of the wooden rack, lowering and adjusting the object to fit onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: release: Right hand releases the white cylindrical object, opening fingers to separate from the object."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: place_release: Right hand places the white block on the top of the rightmost column, then releases the block and lifts its fingers away."}, {"label": "goal", "start_step": 1999, "end_step": 2190, "id": "3287475f-18d3-4ecf-95c7-fc29f9d0ed02"}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2122, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "goal", "start_step": 2191, "end_step": 2379, "id": "998addd0-7038-4bea-9fbc-7aedb436b0ed"}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position right above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2369, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it slowly along the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downward and rightward from the position near the stacked blocks on the wooden base toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 2380, "end_step": 2475, "id": "0fd53eb6-614f-45f7-b54f-453648b3b8c3"}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift: Right hand lifts the white cube from the black table surface upward."}, {"label": "goal", "start_step": 2476, "end_step": 2664, "id": "c538d143-eab1-4c51-a4e1-fbcec26aaf15"}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: transport: Right hand transports the white cube upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand mates the white cube with the purple rod by aligning the cube's hole with the rod and inserting the rod into the hole, moving downward until the cube touches the white base."}, {"label": "subtasks", "start_step": 2580, "end_step": 2654, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: press: Right hand presses the white cube downward along the purple rod to press it firmly onto the white base."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: release: Right hand releases the white cube by opening its fingers, separating from the cube."}, {"label": "goal", "start_step": 2665, "end_step": 2766, "id": "84b12660-0623-49c5-bd1f-57c9a8ca87eb"}, {"label": "subtasks", "start_step": 2670, "end_step": 2677, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: press: Right hand presses the purple cylindrical object into the top of the front-right white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2678, "end_step": 2714, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downwards towards the green cube on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 2715, "end_step": 2737, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 2738, "end_step": 2759, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2760, "end_step": 2781, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, adjusting its fingers to form a stable grip."}, {"label": "goal", "start_step": 2767, "end_step": 2919, "id": "4eadf237-0fe4-467c-8d62-d8956db9a377"}, {"label": "subtasks", "start_step": 2782, "end_step": 2819, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts the green block off the dark table surface and transports it upward and leftward toward the bottle rack with white bottles."}, {"label": "subtasks", "start_step": 2820, "end_step": 2894, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand aligns the green block with the purple rod on the rightmost white bottle of the bottle rack for assembly."}, {"label": "subtasks", "start_step": 2895, "end_step": 2924, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: place_release: Right hand places the green block onto the white bottle with a purple rod and releases its grip on the block."}, {"label": "home", "start_step": 2955, "end_step": 2985, "id": "w3RtKtzePdFWU_lDeb-Ak"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:reposition: Left hand moves upward from the lower left area to the upper left side of the workspace. | Right hand: reach: Right hand moves leftward and upward from the right side of the workspace to approach the white hexagonal block on top of the leftmost purple rod."}, {"label": "subtasks", "start_step": 22, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: reach: Right hand moves leftward and upward from the right side of the workspace to approach the white hexagonal block on top of the leftmost purple rod."}, {"label": "subtasks", "start_step": 90, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on top of the leftmost purple rod."}, {"label": "subtasks", "start_step": 105, "end_step": 127, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, separating it from the leftmost purple rod."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves leftward and downward to above the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 142, "end_step": 187, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the hole of the green hexagonal block and inserts it downwards into the green block."}, {"label": "subtasks", "start_step": 188, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted in the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to above the leftmost vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost peg and fits it downward onto the peg."}, {"label": "subtasks", "start_step": 338, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate_release: Right hand inserts the white hollow hexagonal block onto the leftmost vertical peg of the pegboard and releases the block."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: reach: Right hand moves downward and leftward toward the white hexagonal block on the upper-left area of the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 547, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 570, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple peg on the wooden base by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost front purple peg of the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 711, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: release: Right hand releases the white hexagonal block on the leftmost front purple peg, fingers open and lift slightly."}, {"label": "subtasks", "start_step": 712, "end_step": 771, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block on the left side of the table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the table surface, fingers close around the block to form a stable grip."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left side of the table surface without moving."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: lift: Right hand lifts the white perforated hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: transport: Right hand transports the white perforated hexagonal block upward and toward the wooden pegboard with purple vertical posts."}, {"label": "subtasks", "start_step": 900, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: mate: Right hand mates the white perforated hexagonal block onto the leftmost purple post of the pegboard by moving downward to fit the block onto the post."}, {"label": "subtasks", "start_step": 975, "end_step": 1124, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: hold: Right hand holds the white perforated hexagonal block on the leftmost purple post of the pegboard without moving."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left side of the workspace without moving. | Right hand: release: Right hand releases the white perforated hexagonal block by opening its fingers and separating from the block."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00028", "text": "Left hand: retreat: Left hand moves upward away from the white block on the leftmost purple peg. | Right hand: reach: Right hand moves down and left toward the white hexagonal block on the table above the green cubic block."}, {"label": "subtasks", "start_step": 1208, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves down and left toward the white hexagonal block on the table above the green cubic block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1327, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts and moves the white hexagonal block upward from the top of the middle green cube to the position above the middle purple peg."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand mates the white hexagonal block with the middle purple peg by aligning its hole with the peg and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1372, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: press_release: Right hand presses the white hexagonal block down along the middle purple peg to the bottom and opens its fingers to release the block."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downward from the upper pegboard area toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 1515, "end_step": 1529, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upward and backward to the position above the target peg on the rack."}, {"label": "subtasks", "start_step": 1612, "end_step": 1709, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the target peg and moves it downward to fit the block onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the rack without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: release: Right hand releases the green block on the upper block set, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the workbench surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the workbench, with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the white hexagonal block on the workbench without moving."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and leftward toward the wooden rack with stacked blocks."}, {"label": "subtasks", "start_step": 1898, "end_step": 1987, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the corresponding peg of the wooden rack, lowering and adjusting the object to fit onto the peg."}, {"label": "subtasks", "start_step": 1988, "end_step": 1994, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: release: Right hand releases the white cylindrical object, opening fingers to separate from the object."}, {"label": "subtasks", "start_step": 1995, "end_step": 2024, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: place_release: Right hand places the white block on the top of the rightmost column, then releases the block and lifts its fingers away."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2122, "end_step": 2204, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2205, "end_step": 2241, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it to the position right above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2369, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod by lowering it slowly along the rod."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downward and rightward from the position near the stacked blocks on the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2474, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2475, "end_step": 2497, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift: Right hand lifts the white cube from the black table surface upward."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: transport: Right hand transports the white cube upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2520, "end_step": 2579, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand mates the white cube with the purple rod by aligning the cube's hole with the rod and inserting the rod into the hole, moving downward until the cube touches the white base."}, {"label": "subtasks", "start_step": 2580, "end_step": 2654, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: press: Right hand presses the white cube downward along the purple rod to press it firmly onto the white base."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: release: Right hand releases the white cube by opening its fingers, separating from the cube."}, {"label": "subtasks", "start_step": 2670, "end_step": 2677, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: press: Right hand presses the purple cylindrical object into the top of the front-right white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2678, "end_step": 2714, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: reach: Right hand moves downwards towards the green cube on the table, with fingers slightly open."}, {"label": "subtasks", "start_step": 2715, "end_step": 2737, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cube on the table."}, {"label": "subtasks", "start_step": 2738, "end_step": 2759, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2760, "end_step": 2781, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, adjusting its fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2782, "end_step": 2819, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: lift_transport: Right hand lifts the green block off the dark table surface and transports it upward and leftward toward the bottle rack with white bottles."}, {"label": "subtasks", "start_step": 2820, "end_step": 2894, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: mate: Right hand aligns the green block with the purple rod on the rightmost white bottle of the bottle rack for assembly."}, {"label": "subtasks", "start_step": 2895, "end_step": 2924, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the upper left area above the peg board without moving. | Right hand: place_release: Right hand places the green block onto the white bottle with a purple rod and releases its grip on the block."}], "episode_index": 23}
+{"source_uid": "178f5815b324eea7", "num_frames": 2856, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block at the front left of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 210, "id": "e208d17b-551a-4bbe-b561-2b1498c146be"}, {"label": "valid", "start_step": 0, "end_step": 2825, "id": "_1DhBSiwTFNlmlrhLmZq8"}, {"label": "subtasks", "start_step": 82, "end_step": 231, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to contact and adjusts grip on the green cubic block on the black tabletop."}, {"label": "goal", "start_step": 211, "end_step": 402, "id": "f13e76e9-da14-4dda-b9d5-97f7f8521949"}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green square block from the tabletop and transports it above the leftmost purple post on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 434, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green square block with the leftmost purple post and fits it down onto the post to complete assembly."}, {"label": "goal", "start_step": 403, "end_step": 522, "id": "acadc6c5-4947-4c79-aaf6-bf680de43ddb"}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 458, "end_step": 539, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing and adjusting."}, {"label": "goal", "start_step": 523, "end_step": 780, "id": "3a8e6dc0-1e3a-4b26-bdd2-ffa0e082acc5"}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 779, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple peg and lowers it to mate the block onto the peg."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted on the leftmost purple peg."}, {"label": "goal", "start_step": 781, "end_step": 909, "id": "6a2c3298-4539-4e82-b95a-d79914b64b9f"}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the left of the desktop."}, {"label": "subtasks", "start_step": 840, "end_step": 921, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the left white hexagonal block on the desktop, adjusting the grip."}, {"label": "goal", "start_step": 910, "end_step": 1065, "id": "10eb4d1d-57b2-4e41-8768-e0520f60244f"}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it to the position above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the top of the target purple rod."}, {"label": "subtasks", "start_step": 975, "end_step": 1049, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod until it is fully fitted."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without any movement."}, {"label": "subtasks", "start_step": 1065, "end_step": 1117, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table in front of the wooden peg base."}, {"label": "goal", "start_step": 1066, "end_step": 1179, "id": "214c2ca7-5f02-49d4-a52a-e8543f9c277f"}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without observable movement."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 1180, "end_step": 1335, "id": "d8aa5212-d0a8-4eb0-826a-bc90ab22c497"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple pillar on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1259, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple pillar by aligning its central hole to the pillar."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down onto the purple pillar until it is stably supported."}, {"label": "subtasks", "start_step": 1305, "end_step": 1334, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block and separates from the block."}, {"label": "subtasks", "start_step": 1335, "end_step": 1357, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the post of the wooden base."}, {"label": "goal", "start_step": 1336, "end_step": 1446, "id": "7fb1b8cc-5a3d-455a-bd74-1768ae4c2da8"}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green square block on the table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1461, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green square block on the table surface."}, {"label": "goal", "start_step": 1447, "end_step": 1611, "id": "3bfb189d-4ab6-4fda-90d4-18e890de7e0e"}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1485, "end_step": 1634, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the 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"end_step": 1889, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the post of the wooden base without moving."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the peg on the wooden base."}, {"label": "goal", "start_step": 1900, "end_step": 2001, "id": "6eec9056-d66a-4dd6-a0af-7af1c0f8f609"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the upper white hexagonal block on the right side of the table."}, {"label": 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"start_step": 2138, "end_step": 2151, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2152, "end_step": 2189, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2190, "end_step": 2257, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00044", "text": 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+    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
+    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
+    "features": {
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.joint_torque": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp": {
+            "dtype": "float32",
+            "shape": [
+                24
+            ],
+            "names": [
+                "left_arm_tcp_pose",
+                "left_arm_tcp_forces",
+                "right_arm_tcp_pose",
+                "right_arm_tcp_forces"
+            ]
+        },
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                65
+            ],
+            "names": [
+                "left_arm_j0",
+                "left_arm_j1",
+                "left_arm_j2",
+                "left_arm_j3",
+                "left_arm_j4",
+                "left_arm_j5",
+                "left_arm_j6",
+                "left_hand_j0",
+                "left_hand_j1",
+                "left_hand_j2",
+                "left_hand_j3",
+                "left_hand_j4",
+                "left_hand_j5",
+                "left_hand_j6",
+                "left_hand_j7",
+                "left_hand_j8",
+                "left_hand_j9",
+                "left_hand_j10",
+                "left_hand_j11",
+                "left_hand_j12",
+                "left_hand_j13",
+                "left_hand_j14",
+                "left_hand_j15",
+                "left_hand_j16",
+                "left_hand_j17",
+                "left_hand_j18",
+                "left_hand_j19",
+                "left_hand_j20",
+                "left_hand_j21",
+                "right_arm_j0",
+                "right_arm_j1",
+                "right_arm_j2",
+                "right_arm_j3",
+                "right_arm_j4",
+                "right_arm_j5",
+                "right_arm_j6",
+                "right_hand_j0",
+                "right_hand_j1",
+                "right_hand_j2",
+                "right_hand_j3",
+                "right_hand_j4",
+                "right_hand_j5",
+                "right_hand_j6",
+                "right_hand_j7",
+                "right_hand_j8",
+                "right_hand_j9",
+                "right_hand_j10",
+                "right_hand_j11",
+                "right_hand_j12",
+                "right_hand_j13",
+                "right_hand_j14",
+                "right_hand_j15",
+                "right_hand_j16",
+                "right_hand_j17",
+                "right_hand_j18",
+                "right_hand_j19",
+                "right_hand_j20",
+                "right_hand_j21",
+                "motor_j0",
+                "motor_j1",
+                "motor_j2",
+                "motor_j3",
+                "motor_j4",
+                "motor_j5",
+                "motor_j6"
+            ]
+        },
+        "observation.state.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "action.tcp_pose": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "left_arm_tcp_pose_0",
+                "left_arm_tcp_pose_1",
+                "left_arm_tcp_pose_2",
+                "left_arm_tcp_pose_3",
+                "left_arm_tcp_pose_4",
+                "left_arm_tcp_pose_5",
+                "right_arm_tcp_pose_0",
+                "right_arm_tcp_pose_1",
+                "right_arm_tcp_pose_2",
+                "right_arm_tcp_pose_3",
+                "right_arm_tcp_pose_4",
+                "right_arm_tcp_pose_5"
+            ]
+        },
+        "subtask_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_left": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v3.0/meta/modality.json b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v3.0/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v3.0/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v3.0/meta/stats.json b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v3.0/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ceefd5c8a17eccb03de68f6f5d539c3a34a1705
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_16_43_55_train/lerobot_v3.0/meta/stats.json
@@ -0,0 +1,4030 @@
+{
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+                    0.0
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"reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white perforated block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the rightmost stacked column."}, {"label": "goal", "start_step": 2492, "end_step": 2616, "id": "16619ce1-2a66-4ab9-89cb-5699c30178de"}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark gray table surface."}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark gray table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the tabletop."}, {"label": "goal", "start_step": 2617, "end_step": 2716, "id": "872668e9-9e14-48e1-9d85-2faacf471ab0"}, {"label": "subtasks", "start_step": 2625, "end_step": 2654, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring upward and leftward to the top of the rightmost bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2655, "end_step": 2729, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the green ring onto the rightmost bottle on the wooden tray and releases the green ring."}, {"label": "home", "start_step": 2756, "end_step": 2786, "id": "uzfv3yh8kOsSNkTMQdd9F"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green cube on the left front area of the table, approaching the cube without making contact."}, {"label": "subtasks", "start_step": 112, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the left front of the table, with fingers closing and adjusting to form a stable grip on the cube."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the left front of the table without moving, the cube remains on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the black table, adjusting its gripper to form a stable grip around the block."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to position it above the leftmost peg of the wooden stand."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost vertical peg of the wooden stand and lowers it onto the peg to establish the assembly fit."}, {"label": "subtasks", "start_step": 262, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block downward along the leftmost peg of the wooden stand, applying pressure to push the block further down the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts to form a stable grasp."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the pegboard."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal piece off the table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_mate: Right hand transports the white hexagonal piece to the leftmost peg of the pegboard and mates it onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg board area toward the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 788, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table and transports it upward and leftward to the top of the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 878, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal part downward along the leftmost purple peg until it reaches the green base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part by opening its fingers and separating from the part."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without any observable movement."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to stabilize the grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position right above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg by lowering it onto the peg, then releases the block and moves slightly upward."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal hole piece onto the middle purple vertical peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green square hole piece on the table surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square hole piece on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the work surface and transports it upward and leftward toward the peg board."}, {"label": "subtasks", "start_step": 1342, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the peg board by aligning and lowering it."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the peg board without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the front pegboard and releases it with fingers opening."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1537, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the black table towards the vertical peg above the green block on the wooden base."}, {"label": "subtasks", "start_step": 1598, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the vertical peg above the green block, adjusting position to fit the block down onto the peg."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple vertical rod and releases its grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the white hexagonal block on the table surface about 90 degrees to make it lie flat."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block lying on the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the small white hollow cube on the right side of the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1971, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the small white hollow cube to the position above the table next to the other white hollow cube."}, {"label": "subtasks", "start_step": 1972, "end_step": 1987, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the small white hollow cube on the table surface and releases its grasp."}, {"label": "subtasks", "start_step": 1988, "end_step": 2077, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the small white hollow cube on the table without moving."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the small white hollow cube on the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the small white hollow cube upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2189, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the small white hollow cube with the purple rod by lowering the cube onto the rod to fit the rod through the cube's hole."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 2228, "end_step": 2264, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the right side of the table."}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white perforated block from the black table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2369, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white perforated block upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple rod and inserts it downward onto the rod to fit with the existing block below."}, {"label": "subtasks", "start_step": 2415, "end_step": 2489, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white perforated block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the rightmost stacked column."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark gray table surface."}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark gray table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the tabletop."}, {"label": "subtasks", "start_step": 2625, "end_step": 2654, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring upward and leftward to the top of the rightmost bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2655, "end_step": 2729, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the green ring onto the rightmost bottle on the wooden tray and releases the green ring."}], "episode_index": 0}
+{"source_uid": "3132acd176b20d0d", "num_frames": 2703, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block at the left side of the wooden base on the black table with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 185, "id": "1107ba27-9bfe-4d22-a04d-6f307cf35572"}, {"label": "valid", "start_step": 0, "end_step": 2672, "id": "QczAIHaCg5xmDIIJlaSVz"}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the wooden base with purple pegs and a green block from the table surface."}, {"label": "goal", "start_step": 186, "end_step": 380, "id": "3305f421-c3f0-4890-84fe-9f3b25ca6614"}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the wooden base upward to align purple pegs with holes of upper white blocks."}, {"label": "subtasks", "start_step": 248, "end_step": 374, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the leftmost purple peg to secure white blocks on the pegs."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 381, "end_step": 500, "id": "67250679-177c-44bc-aeb6-bab7adb2205d"}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 501, "end_step": 785, "id": "9b726ad0-61ed-4bb7-9a00-dcfda9890e30"}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the top of the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white hexagonal block down along the purple rod to the green base and releases the block."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black desktop."}, {"label": "goal", "start_step": 786, "end_step": 915, "id": "44435a3d-e777-4f6a-95f2-56b12cce96a4"}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the left white hexagonal block on the black desktop."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the black desktop without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 916, "end_step": 1055, "id": "f5863fa7-8d27-4d81-abf1-fae1756726a4"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the leftmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the leftmost purple post to secure it in place."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the leftmost vertical rod of the wooden base."}, {"label": "goal", "start_step": 1056, "end_step": 1190, "id": "40504fd3-fc69-4442-a899-a3246b737fb6"}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it above the purple peg on the wooden base."}, {"label": "goal", "start_step": 1191, "end_step": 1325, "id": "42829247-7f0e-4d76-b568-46f2b5dca856"}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down to secure it on the purple peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1326, "end_step": 1435, "id": "75cbae82-ca81-44ab-a100-efc17402b547"}, {"label": "subtasks", "start_step": 1342, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 1436, "end_step": 1565, "id": "a92bbd52-94cb-474d-b5c2-c722a0c60f8b"}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and moves it toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1559, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the green block on the wooden base."}, {"label": "goal", "start_step": 1566, "end_step": 1695, "id": "44b27725-7c00-4d9a-a6fa-a5b92d0a71c1"}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers and closes to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1701, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block slightly off the table surface."}, {"label": "goal", "start_step": 1696, "end_step": 1810, "id": "f5ef0d7d-c05b-4427-96a4-2f19a2e49503"}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the target peg on the wooden base."}, {"label": "goal", "start_step": 1811, "end_step": 1905, "id": "e91d03f2-fa9e-4eec-9dfe-4871a9f61578"}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white cylindrical block on the table, adjusting to form a stable grip."}, {"label": "goal", "start_step": 1906, "end_step": 2035, "id": "397a43bf-4d9f-40ed-b896-5ed35032af66"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the peg on the wooden rack and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2036, "end_step": 2140, "id": "5dba68e6-fdb5-4a33-8634-185b79bb349f"}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 2141, "end_step": 2260, "id": "b6179e1c-9055-465d-a11d-4ffd033761e4"}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block upwards away from the table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block towards the wooden rack at the top middle of the frame."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the target peg on the wooden rack by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical component onto the wooden base and releases the component."}, {"label": "goal", "start_step": 2261, "end_step": 2355, "id": "e414c278-e972-4de5-9ef4-919a716e0dc1"}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2369, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "goal", "start_step": 2356, "end_step": 2630, "id": "8a3a3a0a-f714-4a1d-936d-19e7a116d5ed"}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upwards off the table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block upwards and towards the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2422, "end_step": 2624, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and fits it onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening fingers, separating from the block."}, {"label": "home", "start_step": 2673, "end_step": 2702, "id": "fdvD1NSmz9bg1UNoV95p4"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block at the left side of the wooden base on the black table with fingers open."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the wooden base with purple pegs and a green block from the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the wooden base upward to align purple pegs with holes of upper white blocks."}, {"label": "subtasks", "start_step": 248, "end_step": 374, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the leftmost purple peg to secure white blocks on the pegs."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the top of the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white hexagonal block down along the purple rod to the green base and releases the block."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black desktop."}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the left white hexagonal block on the black desktop."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the black desktop without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the leftmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the leftmost purple post to secure it in place."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the leftmost vertical rod of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down to secure it on the purple peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and moves it toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1559, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the green block on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers and closes to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1701, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block slightly off the table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white cylindrical block on the table, adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the peg on the wooden rack and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block upwards away from the table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block towards the wooden rack at the top middle of the frame."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the target peg on the wooden rack by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical component onto the wooden base and releases the component."}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2369, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upwards off the table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block upwards and towards the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2422, "end_step": 2624, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and fits it onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening fingers, separating from the block."}], "episode_index": 1}
+{"source_uid": "4276749d0acde7f8", "num_frames": 2590, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the left initial position upward to the left home position, with fingers slightly extended. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block near the wooden base, with fingers open during the movement."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "068895c9-40cf-4cd0-8e11-83cb11c6a56d"}, {"label": "valid", "start_step": 0, "end_step": 2558, "id": "STSVI_lVR6jarcx-KmXFf"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block near the wooden base, with fingers open during the movement."}, {"label": "subtasks", "start_step": 98, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a stable grip on the green hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 172, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand moves upward while holding the green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the left of the wooden base to establish a firm grip."}, {"label": "goal", "start_step": 181, "end_step": 315, "id": "405e1335-a878-44c8-9523-4ae4104c301b"}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand moves the gripped green hexagonal block upward to lift it fully off the wooden base surface."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally to position it directly over the leftmost purple peg on the base."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the leftmost purple peg and fit the block onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the green hexagonal block assembled on the leftmost purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple peg to set it on the wooden pegboard base, and opens fingers to release the block."}, {"label": "goal", "start_step": 316, "end_step": 465, "id": "50959482-ca65-4663-8c8d-1d68bf12bd23"}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves empty downward and forward from the pegboard area toward the front-left white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, with small adjustments of fingers and wrist to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the front-left white hexagonal block on the table without observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface and moves it upward to the position above the leftmost purple rod on the wooden assembly stand."}, {"label": "goal", "start_step": 466, "end_step": 630, "id": "250bb5e4-1f55-44c1-98f4-a5737a4b3dec"}, {"label": "subtasks", "start_step": 502, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand adjusts the posture of the white hexagonal block to align its hole with the purple rod, moves the block downward to fit it onto the rod, and makes slight adjustments to secure the assembly."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any observable movement or hand shape change."}, {"label": "goal", "start_step": 631, "end_step": 755, "id": "a29fcd2c-3e5f-455d-abed-f47f8a8f0d3f"}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place_release: Right hand places the grasped white cylindrical block onto the rod of the assembly rack until the block is stably supported, opening fingers to release the block."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves downward from the assembly rack toward the left white hexagonal block on the black work surface, without contacting the target block."}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the left white hexagonal block on the work surface to form a stable grasp, with the block remaining on the work surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the work surface."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand adjusts finger positions and closes around the white hexagonal block on the dark table surface to form a stable grasp."}, {"label": "goal", "start_step": 756, "end_step": 900, "id": "0d81237b-b48c-4056-a269-5e8c2bd45c07"}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface and moves it upward to position directly above the front-left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit it onto the rod, making small positional adjustments during assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand grips the white cylindrical component on the rightmost purple rod of the wooden stand, lifts it upward until the component is fully detached from the rod."}, {"label": "goal", "start_step": 901, "end_step": 1025, "id": "c135b63c-e0ba-498b-b4a6-40edc1e85f2e"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport_place: Right hand carries the detached white cylindrical component downward to the table surface near the front of the wooden stand, placing it onto the table where it is supported by the surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1011, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach_grasp: Right hand moves leftward to approach the white hexagonal component on the table in front of the wooden stand, closes fingers around the component and makes small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand holds the stably gripped white hexagonal component, lifts it upward slightly so it is no longer in contact with the table surface."}, {"label": "goal", "start_step": 1026, "end_step": 1270, "id": "660a164e-7684-4930-bd79-47ba3d5441f4"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport: Right hand carries the white hexagonal block to move toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, and nests the block onto the rod with slight position adjustments until the block is stably fitted."}, {"label": "subtasks", "start_step": 1095, "end_step": 1259, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the white hexagonal block stably fitted on the purple vertical rod without any movement."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to place it onto the middle purple peg of the wooden stand until the block rests on the wooden base, fingers opening to release the block."}, {"label": "goal", "start_step": 1271, "end_step": 1370, "id": "ea82aecc-1452-4f7d-8901-abdcb182958e"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the dark table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand adjusts fingers around the green hexagonal block on the table, closing fingers gradually to establish a grip on the block with minor wrist positioning adjustments."}, {"label": "goal", "start_step": 1371, "end_step": 1495, "id": "5c7031fc-cb83-4dab-a84a-5f85a141a36d"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the work surface and moves it upward toward the wooden assembly block set."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the middle purple peg on the wooden base, then lowers the block to fit it onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the green hexagonal block seated on the middle purple peg of the wooden assembly base without any observable movement."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: release: Right hand opens fingers to release the green hexagonal block seated on the purple rod, gradually separating from the block."}, {"label": "goal", "start_step": 1496, "end_step": 1625, "id": "cbaca865-4b9a-49b1-8cf0-064e0e642ee0"}, {"label": "subtasks", "start_step": 1522, "end_step": 1574, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves downward with an empty palm, approaching the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand holds the white hexagonal cylinder, lifts it off the dark table surface, and transports it upward to the area above the wooden peg assembly."}, {"label": "goal", "start_step": 1626, "end_step": 1725, "id": "0dc01871-f9df-4619-ba43-9b7a8dba6306"}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand adjusts the position of the white hexagonal cylinder to align its central hole with the target vertical peg, moves the cylinder downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: release: Right hand releases the top white cylindrical block on the wooden block stack, fingers opening to separate from the block surface."}, {"label": "goal", "start_step": 1726, "end_step": 1855, "id": "03ff0734-03a2-4b6e-849a-4abb9d396a17"}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves down and to the right toward the white hexagonal block resting on the table adjacent to the wooden base, fingers held open as it approaches the target."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close around the block and make small adjustments to establish a grip on the object."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "goal", "start_step": 1856, "end_step": 1970, "id": "abf1d77e-9465-4414-a82a-4072c03f45a3"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport: Right hand carries the white hexagonal block upward and leftward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves from the upper area near the purple rod downward to the position above the white hexagonal nut on the black table, with fingers open."}, {"label": "goal", "start_step": 1971, "end_step": 2085, "id": "d5485227-98b8-4ddb-908c-4d8a1749b908"}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting slightly to form a stable grip."}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the white hexagonal nut on the table without any visible movement of the hand, fingers or the nut."}, {"label": "goal", "start_step": 2086, "end_step": 2290, "id": "7c77895e-d978-454a-9ee0-81b508003cbe"}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand lifts the small white cylindrical block off the dark table surface and moves it upward and left to position it directly above the target slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the small white cylindrical block with the purple rod in the target slot of the wooden holder and lowers the block to insert it onto the rod."}, {"label": "subtasks", "start_step": 2175, "end_step": 2279, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the fully inserted small white cylindrical block in the target slot on the wooden block holder without moving."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: release: Right hand releases the purple cap on the small white bottle placed on the wooden tray, fingers opening to separate from the cap."}, {"label": "goal", "start_step": 2291, "end_step": 2405, "id": "0015c774-fa9d-4f4c-a930-c320952965f8"}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves empty downward toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2348, "end_step": 2399, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the green cube on the table, adjusting finger positions to form a stable grasp while the cube remains on the surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand lifts the grasped green cube upward to separate it from the dark table surface."}, {"label": "goal", "start_step": 2406, "end_step": 2515, "id": "fa4ff4f0-5aad-45cc-8f52-a5b8646d2f54"}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport_mate: Right hand transports the green block toward the top of the purple-capped bottle on the wooden tray, aligning the block's opening with the bottle cap."}, {"label": "subtasks", "start_step": 2452, "end_step": 2481, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place: Right hand lowers the green block downward to place it onto the purple-capped bottle."}, {"label": "subtasks", "start_step": 2482, "end_step": 2519, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the green block steady on top of the purple-capped bottle without observable movement."}, {"label": "home", "start_step": 2559, "end_step": 2589, "id": "jX718YiuKpIR_mzthY-GE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the left initial position upward to the left home position, with fingers slightly extended. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block near the wooden base, with fingers open during the movement."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block near the wooden base, with fingers open during the movement."}, {"label": "subtasks", "start_step": 98, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a stable grip on the green hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 172, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand moves upward while holding the green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the left of the wooden base to establish a firm grip."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand moves the gripped green hexagonal block upward to lift it fully off the wooden base surface."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally to position it directly over the leftmost purple peg on the base."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the leftmost purple peg and fit the block onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the green hexagonal block assembled on the leftmost purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple peg to set it on the wooden pegboard base, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves empty downward and forward from the pegboard area toward the front-left white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, with small adjustments of fingers and wrist to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the front-left white hexagonal block on the table without observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface and moves it upward to the position above the leftmost purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 502, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand adjusts the posture of the white hexagonal block to align its hole with the purple rod, moves the block downward to fit it onto the rod, and makes slight adjustments to secure the assembly."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place_release: Right hand places the grasped white cylindrical block onto the rod of the assembly rack until the block is stably supported, opening fingers to release the block."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves downward from the assembly rack toward the left white hexagonal block on the black work surface, without contacting the target block."}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the left white hexagonal block on the work surface to form a stable grasp, with the block remaining on the work surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the work surface."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand adjusts finger positions and closes around the white hexagonal block on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface and moves it upward to position directly above the front-left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit it onto the rod, making small positional adjustments during assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand grips the white cylindrical component on the rightmost purple rod of the wooden stand, lifts it upward until the component is fully detached from the rod."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport_place: Right hand carries the detached white cylindrical component downward to the table surface near the front of the wooden stand, placing it onto the table where it is supported by the surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1011, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach_grasp: Right hand moves leftward to approach the white hexagonal component on the table in front of the wooden stand, closes fingers around the component and makes small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand holds the stably gripped white hexagonal component, lifts it upward slightly so it is no longer in contact with the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport: Right hand carries the white hexagonal block to move toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, and nests the block onto the rod with slight position adjustments until the block is stably fitted."}, {"label": "subtasks", "start_step": 1095, "end_step": 1259, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the white hexagonal block stably fitted on the purple vertical rod without any movement."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to place it onto the middle purple peg of the wooden stand until the block rests on the wooden base, fingers opening to release the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the dark table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand adjusts fingers around the green hexagonal block on the table, closing fingers gradually to establish a grip on the block with minor wrist positioning adjustments."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the work surface and moves it upward toward the wooden assembly block set."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the middle purple peg on the wooden base, then lowers the block to fit it onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the green hexagonal block seated on the middle purple peg of the wooden assembly base without any observable movement."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: release: Right hand opens fingers to release the green hexagonal block seated on the purple rod, gradually separating from the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1574, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves downward with an empty palm, approaching the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand holds the white hexagonal cylinder, lifts it off the dark table surface, and transports it upward to the area above the wooden peg assembly."}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand adjusts the position of the white hexagonal cylinder to align its central hole with the target vertical peg, moves the cylinder downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: release: Right hand releases the top white cylindrical block on the wooden block stack, fingers opening to separate from the block surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves down and to the right toward the white hexagonal block resting on the table adjacent to the wooden base, fingers held open as it approaches the target."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close around the block and make small adjustments to establish a grip on the object."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport: Right hand carries the white hexagonal block upward and leftward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves from the upper area near the purple rod downward to the position above the white hexagonal nut on the black table, with fingers open."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting slightly to form a stable grip."}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the white hexagonal nut on the table without any visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand lifts the small white cylindrical block off the dark table surface and moves it upward and left to position it directly above the target slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the small white cylindrical block with the purple rod in the target slot of the wooden holder and lowers the block to insert it onto the rod."}, {"label": "subtasks", "start_step": 2175, "end_step": 2279, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the fully inserted small white cylindrical block in the target slot on the wooden block holder without moving."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: release: Right hand releases the purple cap on the small white bottle placed on the wooden tray, fingers opening to separate from the cap."}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves empty downward toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2348, "end_step": 2399, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the green cube on the table, adjusting finger positions to form a stable grasp while the cube remains on the surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand lifts the grasped green cube upward to separate it from the dark table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport_mate: Right hand transports the green block toward the top of the purple-capped bottle on the wooden tray, aligning the block's opening with the bottle cap."}, {"label": "subtasks", "start_step": 2452, "end_step": 2481, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place: Right hand lowers the green block downward to place it onto the purple-capped bottle."}, {"label": "subtasks", "start_step": 2482, "end_step": 2519, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the green block steady on top of the purple-capped bottle without observable movement."}], "episode_index": 2}
+{"source_uid": "6bab9bdc6417ea44", "num_frames": 2522, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from its initial lower position to the left home position, empty-handed. | Right hand: reach: Right hand moves leftward from the right side of the table toward the central pegboard with stacked pieces, empty-handed."}, {"label": "goal", "start_step": 0, "end_step": 175, "id": "498b6aa2-4e84-4824-827d-ab528375f2e6"}, {"label": "valid", "start_step": 0, "end_step": 2490, "id": "gaPPYvOOcxf3cJq9C217k"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the central pegboard with stacked pieces, empty-handed."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white piece with a green base on the leftmost peg of the central board."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the grasped piece upward until it is fully separated from the supporting peg."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand carries the grasped piece leftward and downward to the area above the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand adjusts the position and orientation of the grasped piece to align it with the hole of the green hexagonal block."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts and transports the green square block from the black table surface to the position above the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 176, "end_step": 320, "id": "616437a7-62cc-48e0-931b-16ed6cd55399"}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand mates the green square block onto the leftmost purple peg by lowering and fitting it into place."}, {"label": "subtasks", "start_step": 225, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the green square block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 321, "end_step": 440, "id": "3873469b-88a9-476a-9e80-ede843321205"}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the dark table near the small green block, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 441, "end_step": 550, "id": "98208f81-b3e3-4473-8b93-4e9eb286ee64"}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward to the area above the purple pegs on the base."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with a purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 551, "end_step": 660, "id": "2d4043e1-51fc-498e-9a23-5db30c05f6b4"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand reaches downward toward the left white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport_mate: Right hand transports the white hollow cylindrical part upward and leftward above the black table to the left front purple peg of the wooden pegboard and inserts the part onto the peg."}, {"label": "goal", "start_step": 661, "end_step": 780, "id": "cf4f8843-e755-42e7-822c-d8ba78abd92a"}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white hollow cylindrical part on the left front purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: place_release: Right hand places the white ring onto the left purple peg of the wooden base and releases the ring."}, {"label": "goal", "start_step": 781, "end_step": 885, "id": "2678aa5f-1435-40c6-83b8-4314c50dc0d3"}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 921, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white ring on the table in front of the wooden base, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 886, "end_step": 1015, "id": "ad3ab510-5bbb-4478-94a3-274316dcef57"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the position above the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1027, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and moves it downward to fit the block onto the peg."}, {"label": "goal", "start_step": 1016, "end_step": 1115, "id": "41af2346-a3e1-4f1f-931f-20ec3ced9be1"}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white hollow cylinder, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward to reach the green hollow square on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the green hollow square on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1116, "end_step": 1305, "id": "ea5e1c7c-2e89-4004-8412-e651be749d64"}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it to the position above the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1289, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the green square block with the peg and moves it downward to mate the block onto the peg."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the green square block by opening its fingers."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: retreat: Right hand retreats toward the right side after releasing the green square block."}, {"label": "goal", "start_step": 1306, "end_step": 1405, "id": "7b3e6191-c8eb-47d9-ae43-62ac34a9f172"}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1406, "end_step": 1530, "id": "ed3f6f6a-debd-44f8-92db-b261b576d2bd"}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the peg rack with stacked cylinders."}, {"label": "subtasks", "start_step": 1440, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto a vertical peg of the rack, lowering it down along the peg until fully fitted."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical part on the top of the stacked block column, with fingers opening gradually."}, {"label": "goal", "start_step": 1531, "end_step": 1650, "id": "ab675bf4-4a80-471e-a1cd-fba4e47dc56c"}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand reaches downward and rightward toward the white hexagonal hollow part on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal hollow part on the table, with fingers closing around the part."}, {"label": "subtasks", "start_step": 1642, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal hollow part upward away from the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand holds the white cylindrical block and moves it upward and leftward toward the purple rod on the wooden rack."}, {"label": "goal", "start_step": 1651, "end_step": 1765, "id": "1fb22ada-f6eb-4763-957f-af2e6bac2099"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the hole of the white cylindrical block with the purple rod and inserts the block down onto the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden tray, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1766, "end_step": 1890, "id": "634e0bbf-6b8c-4066-8bcb-91d27cd58dcc"}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand reaches toward the white cylindrical block on the dark table surface, moving downwards and to the right."}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1882, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the white cylindrical block upwards off the table surface while holding it."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand transports the white hollow block upward and leftward to the position above the purple rod on the wooden board."}, {"label": "goal", "start_step": 1891, "end_step": 2015, "id": "954a1e1c-6401-4a4d-864f-f8a636196c94"}, {"label": "subtasks", "start_step": 1928, "end_step": 1994, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by lowering it onto the rod until the block rests on the base below the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white hollow block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: retreat: Right hand retreats upward away from the purple rod position while empty."}, {"label": "goal", "start_step": 2016, "end_step": 2275, "id": "a7c2dd97-6d96-40de-aade-ee58673becda"}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: open: Right hand opens the pump head of the front-right white bottle with green lower part on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2189, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the pump head of the front-right white bottle on the wooden base without moving."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward toward the green cubic object on the table, empty-handed."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the green cubic object on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the green cubic object upward, making it leave the table surface."}, {"label": "goal", "start_step": 2276, "end_step": 2460, "id": "8933d89e-683a-45f5-beae-d63bb08d75ad"}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand transports the green block toward the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2361, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2362, "end_step": 2451, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: press: Right hand presses the green block down onto the white bottle to secure the assembly."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the green block by opening its fingers and separating from the block."}, {"label": "home", "start_step": 2491, "end_step": 2521, "id": "R4GARKSrlCRwslc-qP-dL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from its initial lower position to the left home position, empty-handed. | Right hand: reach: Right hand moves leftward from the right side of the table toward the central pegboard with stacked pieces, empty-handed."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the central pegboard with stacked pieces, empty-handed."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white piece with a green base on the leftmost peg of the central board."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the grasped piece upward until it is fully separated from the supporting peg."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand carries the grasped piece leftward and downward to the area above the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand adjusts the position and orientation of the grasped piece to align it with the hole of the green hexagonal block."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts and transports the green square block from the black table surface to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand mates the green square block onto the leftmost purple peg by lowering and fitting it into place."}, {"label": "subtasks", "start_step": 225, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the green square block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the dark table near the small green block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward to the area above the purple pegs on the base."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with a purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand reaches downward toward the left white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport_mate: Right hand transports the white hollow cylindrical part upward and leftward above the black table to the left front purple peg of the wooden pegboard and inserts the part onto the peg."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white hollow cylindrical part on the left front purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: place_release: Right hand places the white ring onto the left purple peg of the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 921, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white ring on the table in front of the wooden base, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the position above the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1027, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white hollow cylinder, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward to reach the green hollow square on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the green hollow square on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it to the position above the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1289, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the green square block with the peg and moves it downward to mate the block onto the peg."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the green square block by opening its fingers."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: retreat: Right hand retreats toward the right side after releasing the green square block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the peg rack with stacked cylinders."}, {"label": "subtasks", "start_step": 1440, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto a vertical peg of the rack, lowering it down along the peg until fully fitted."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical part on the top of the stacked block column, with fingers opening gradually."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand reaches downward and rightward toward the white hexagonal hollow part on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal hollow part on the table, with fingers closing around the part."}, {"label": "subtasks", "start_step": 1642, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal hollow part upward away from the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand holds the white cylindrical block and moves it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the hole of the white cylindrical block with the purple rod and inserts the block down onto the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden tray, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand reaches toward the white cylindrical block on the dark table surface, moving downwards and to the right."}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1882, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the white cylindrical block upwards off the table surface while holding it."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand transports the white hollow block upward and leftward to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1928, "end_step": 1994, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by lowering it onto the rod until the block rests on the base below the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white hollow block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: retreat: Right hand retreats upward away from the purple rod position while empty."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: open: Right hand opens the pump head of the front-right white bottle with green lower part on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2189, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the pump head of the front-right white bottle on the wooden base without moving."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward toward the green cubic object on the table, empty-handed."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the green cubic object on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the green cubic object upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand transports the green block toward the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2361, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2362, "end_step": 2451, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: press: Right hand presses the green block down onto the white bottle to secure the assembly."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the green block by opening its fingers and separating from the block."}], "episode_index": 3}
+{"source_uid": "57c786dded48355a", "num_frames": 2656, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the purple rod of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 220, "id": "8cc20340-915b-4d51-aeae-8af8065b9a23"}, {"label": "valid", "start_step": 0, "end_step": 2624, "id": "weSBDjGTr2YZPhLl5r_-2"}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the purple rod, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 128, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the grasped white cylindrical block downwards along the purple rod."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it upwards to the top of the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 221, "end_step": 355, "id": "63deb43d-8edd-41a0-9b6b-8c8293ae3fc3"}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the leftmost purple peg by aligning and inserting it partially onto the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the leftmost purple peg to fit it in place."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 356, "end_step": 480, "id": "15092797-43d9-4585-a269-c776791b54b9"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 405, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts and closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 481, "end_step": 590, "id": "a61b5731-ff27-4de8-9944-3a1efa917e8c"}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by aligning and inserting it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 591, "end_step": 735, "id": "1c62b65e-f61f-4f32-baf8-2bde7ddcc15a"}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the left white hexagonal ring placed on the table."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the left white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal ring upward off the table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the target peg on the wooden base."}, {"label": "goal", "start_step": 736, "end_step": 870, "id": "49f7d5ac-4328-44f3-be61-6d8be82f8c4b"}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the target peg without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to approach the white cylindrical object in front of the wooden base."}, {"label": "goal", "start_step": 871, "end_step": 995, "id": "4e279dde-385d-4b3d-b77d-81b7f440b330"}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical object, with slight grip adjustment during the process."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple peg on the wooden base."}, {"label": "goal", "start_step": 996, "end_step": 1175, "id": "578159f2-740c-4615-ad0e-e97bf5e96b61"}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple rod of the wooden base, pressing it slightly to fit."}, {"label": "goal", "start_step": 1176, "end_step": 1290, "id": "92005ea5-56af-43f9-b04d-5a6085b13043"}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block off the black table surface."}, {"label": "goal", "start_step": 1291, "end_step": 1420, "id": "6a0a4b8a-1379-480c-bc2c-144eebe9715c"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green block on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1421, "end_step": 1550, "id": "bc3682ed-961f-4018-9869-d1c83746aa94"}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface to form a stable grasp."}, {"label": "goal", "start_step": 1551, "end_step": 1775, "id": "0f5bdedf-636d-4c21-a5d3-26b7acca9345"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod above the green block on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1776, "end_step": 1920, "id": "05863275-70fc-4f43-bb95-f71f5169a10f"}, {"label": "subtasks", "start_step": 1815, "end_step": 1867, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand holds the small white cap and moves it toward the purple rod on the wooden rack."}, {"label": "goal", "start_step": 1921, "end_step": 2080, "id": "8b26a640-b889-4a47-8588-4987e437f05d"}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and fits the small white cap onto the top of the purple rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cap on the purple rod without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylinder onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2081, "end_step": 2190, "id": "28da6bb5-7b25-4774-9ed0-8bf40c7aef51"}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white cylinder placed on the black tabletop."}, {"label": "subtasks", "start_step": 2138, "end_step": 2181, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers around the white cylinder on the black tabletop to form a stable grasp."}, {"label": "subtasks", "start_step": 2182, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylinder upward off the black tabletop."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it above the empty position on the wooden tray."}, {"label": "goal", "start_step": 2191, "end_step": 2370, "id": "98a9d5b0-e014-4c9c-9d7b-d34933451d5f"}, {"label": "subtasks", "start_step": 2220, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the empty position on the wooden tray."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white block down on the wooden tray to secure it."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the top of the rightmost white bottle on the wooden base."}, {"label": "goal", "start_step": 2371, "end_step": 2485, "id": "cf70ad60-1da1-40ad-9f40-b4ccd2c33e3d"}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves upward away from the white bottle."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2430, "end_step": 2474, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the green cubic block, adjusts fingers to form a stable grasp on it."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 2486, "end_step": 2590, "id": "26aa809e-0032-40ef-93fe-47761341af3e"}, {"label": "subtasks", "start_step": 2490, "end_step": 2527, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block towards the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2528, "end_step": 2549, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle for assembly."}, {"label": "subtasks", "start_step": 2550, "end_step": 2571, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the green block onto the top of the white bottle until it is supported by the bottle."}, {"label": "subtasks", "start_step": 2572, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens its fingers to release the green block and separate from it."}, {"label": "home", "start_step": 2625, "end_step": 2655, "id": "Z5TCkwlzMbb2434TqpOlO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the purple rod, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 128, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the grasped white cylindrical block downwards along the purple rod."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it upwards to the top of the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the leftmost purple peg by aligning and inserting it partially onto the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the leftmost purple peg to fit it in place."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 405, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts and closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by aligning and inserting it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the left white hexagonal ring placed on the table."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the left white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal ring upward off the table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the target peg without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to approach the white cylindrical object in front of the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical object, with slight grip adjustment during the process."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple rod of the wooden base, pressing it slightly to fit."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block off the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green block on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod above the green block on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1867, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand holds the small white cap and moves it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and fits the small white cap onto the top of the purple rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cap on the purple rod without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylinder onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white cylinder placed on the black tabletop."}, {"label": "subtasks", "start_step": 2138, "end_step": 2181, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers around the white cylinder on the black tabletop to form a stable grasp."}, {"label": "subtasks", "start_step": 2182, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylinder upward off the black tabletop."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it above the empty position on the wooden tray."}, {"label": "subtasks", "start_step": 2220, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the empty position on the wooden tray."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white block down on the wooden tray to secure it."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the top of the rightmost white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves upward away from the white bottle."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2430, "end_step": 2474, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the green cubic block, adjusts fingers to form a stable grasp on it."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2527, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block towards the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2528, "end_step": 2549, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle for assembly."}, {"label": "subtasks", "start_step": 2550, "end_step": 2571, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the green block onto the top of the white bottle until it is supported by the bottle."}, {"label": "subtasks", "start_step": 2572, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens its fingers to release the green block and separate from it."}], "episode_index": 4}
+{"source_uid": "e6207c83c03526c7", "num_frames": 2447, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the left home position while remaining empty. | Right hand: return_home: Right hand moves upward to the right home position while remaining empty."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "f5c748be-6bc6-4059-bfbf-c975244f19b3"}, {"label": "valid", "start_step": 0, "end_step": 2416, "id": "wmoRwUbsgXvAEL3rVs_qw"}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: idle: Right hand remains empty at the right home position without moving toward any target object."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block near the wooden base, with fingers held slightly open."}, {"label": "subtasks", "start_step": 98, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger and wrist positions to establish a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand grips the green hexagonal block and lifts it slightly upward from the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the green hexagonal block resting on the dark table surface adjacent to the wooden pegboard."}, {"label": "goal", "start_step": 201, "end_step": 300, "id": "86a70f34-bdbc-4f7e-80b8-2d47de32c473"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until it is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport_mate: Right hand moves the grasped green hexagonal block above the target purple peg on the wooden pegboard, aligns the block with the peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block mounted on the purple peg of the wooden assembly base."}, {"label": "goal", "start_step": 301, "end_step": 425, "id": "39b5acbd-4770-45c5-b2fd-a2ec22ee99c8"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the purple peg and moves it downward toward the dark table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the green hexagonal block onto the table surface, making slight positional adjustments to set the block stably."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal component from the black table surface and transports it to the position directly above the purple peg on the wooden assembly base."}, {"label": "goal", "start_step": 426, "end_step": 555, "id": "8b28a976-4325-48e7-9180-3cb4990365f6"}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal component with the purple peg and fits it onto the peg to establish the assembly fit."}, {"label": "subtasks", "start_step": 465, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses the white hexagonal component downward along the purple peg to seat it securely on the green block beneath."}, {"label": "goal", "start_step": 556, "end_step": 685, "id": "8c5967c0-dbd9-4b34-85af-344ded267508"}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downwards from the wooden rack toward the front-left white hexagonal nut on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 615, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, making slight adjustments to finger positions to establish a stable grasp."}, {"label": "goal", "start_step": 686, "end_step": 795, "id": "d591b582-ecf9-47ee-9bed-4a15eb9de880"}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod, making small positional adjustments during alignment."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the upper assembly area toward the white hexagonal nut positioned in front of the wooden base."}, {"label": "goal", "start_step": 796, "end_step": 915, "id": "8b61a572-4e82-47d5-bc02-57aa184c64db"}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut, making small grip adjustments while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it from the supporting surface near the wooden base, and moves it upward to the position directly above the target purple peg on the base."}, {"label": "goal", "start_step": 916, "end_step": 1035, "id": "052df0a0-01a4-4158-af1d-9a266d63e168"}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, makes slight positional adjustments, and lowers the block to fit it onto the peg until the block rests on the wooden base surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the upper wooden block rack toward the front green hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 1036, "end_step": 1125, "id": "5b64b460-9641-44db-81d4-fcfb5ff6a35f"}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, raising it completely off the dark table surface."}, {"label": "goal", "start_step": 1126, "end_step": 1230, "id": "9a6379de-9fef-41e0-b93d-4017f83485df"}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand moves the green hexagonal block to the purple vertical peg on the wooden base, aligns the block's central hole with the peg, and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block steady on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses vertically down on the top surface of the green hexagonal block mounted on the wooden assembly stand to secure it."}, {"label": "goal", "start_step": 1231, "end_step": 1355, "id": "5ea35d1c-3cf2-4483-aece-926686333d71"}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward across the table toward the frontmost white hexagonal block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand positions its fingers around the frontmost white hexagonal block on the table, adjusting finger placement to establish a grip."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block fully leaves the black table surface."}, {"label": "goal", "start_step": 1356, "end_step": 1480, "id": "1615cb5b-9617-4176-a312-4c9353d732c9"}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand transports the lifted white hexagonal block leftward and upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers the block to fit it onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1432, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand holds the green and white cylindrical block, moves downward to seat the block onto the wooden base assembly, releases fingers to separate from the supported block."}, {"label": "goal", "start_step": 1481, "end_step": 1600, "id": "828c451f-d003-48a3-bb8b-9c2158635702"}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward while empty, approaching the small white hexagonal block on the dark table surface near the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, adjusts finger positions and closes fingers to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table and lifts it upward until the nut is completely off the dark table surface."}, {"label": "goal", "start_step": 1601, "end_step": 1710, "id": "c7b89ea4-5006-4c70-a8a0-7aec9e53bee0"}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it upward then horizontally to the position directly above the purple rod on the light wooden rack."}, {"label": "subtasks", "start_step": 1650, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the top of the purple rod, moves the nut downward to fit it onto the rod, opens fingers to release the nut on the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and slightly right toward the white hexagonal nut on the dark work surface, with fingers held in an extended posture."}, {"label": "goal", "start_step": 1711, "end_step": 1815, "id": "dc7aff37-b195-4127-98fa-028a1dd01f9e"}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, fingers closing and making small adjustments to establish a secure grip on the nut."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand holds the white cylindrical block resting on the black table surface and lifts it upward until the block is completely separated from the table."}, {"label": "goal", "start_step": 1816, "end_step": 2040, "id": "515bfa83-7c17-453e-bc2f-381beb47009a"}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white cylindrical block upward through the air toward the empty slot on the wooden block rack, stopping directly above the slot."}, {"label": "subtasks", "start_step": 1868, "end_step": 1957, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand adjusts the white cylindrical block to align with the empty slot on the wooden rack and inserts the block into the slot until it is stably seated in the rack."}, {"label": "subtasks", "start_step": 1958, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the stably seated white cylindrical block on the wooden rack without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand holds the white cap, adjusts its position over the purple post on the light wooden base, presses the cap down to a stable seated position, opens fingers to release contact with the cap."}, {"label": "goal", "start_step": 2041, "end_step": 2265, "id": "b9deb853-078c-429c-b1cb-1570e0f05b32"}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the green cube on the table, closes fingers around the cube to establish a stable grip."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand moves the stably grasped green cube upward, lifting the cube fully off the dark table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand holds the green block, transports it upward and forward to the position directly above the target purple-capped cylinder on the wooden block base."}, {"label": "goal", "start_step": 2266, "end_step": 2385, "id": "e845e6d6-ea4b-4641-b639-e8a0bc710394"}, {"label": "subtasks", "start_step": 2302, "end_step": 2369, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand makes slight positional adjustments to the held green block, aligns its central hole with the top of the target purple-capped cylinder for assembly."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand moves the aligned green block downward onto the target cylinder until the block is stably supported, opens fingers to release grip on the green block."}, {"label": "home", "start_step": 2417, "end_step": 2446, "id": "kWNYUjKcfXtysO55zoneM"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the left home position while remaining empty. | Right hand: return_home: Right hand moves upward to the right home position while remaining empty."}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: idle: Right hand remains empty at the right home position without moving toward any target object."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block near the wooden base, with fingers held slightly open."}, {"label": "subtasks", "start_step": 98, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger and wrist positions to establish a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand grips the green hexagonal block and lifts it slightly upward from the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the green hexagonal block resting on the dark table surface adjacent to the wooden pegboard."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until it is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport_mate: Right hand moves the grasped green hexagonal block above the target purple peg on the wooden pegboard, aligns the block with the peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block mounted on the purple peg of the wooden assembly base."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the purple peg and moves it downward toward the dark table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the green hexagonal block onto the table surface, making slight positional adjustments to set the block stably."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal component from the black table surface and transports it to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal component with the purple peg and fits it onto the peg to establish the assembly fit."}, {"label": "subtasks", "start_step": 465, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses the white hexagonal component downward along the purple peg to seat it securely on the green block beneath."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downwards from the wooden rack toward the front-left white hexagonal nut on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 615, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, making slight adjustments to finger positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod, making small positional adjustments during alignment."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the upper assembly area toward the white hexagonal nut positioned in front of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut, making small grip adjustments while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it from the supporting surface near the wooden base, and moves it upward to the position directly above the target purple peg on the base."}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, makes slight positional adjustments, and lowers the block to fit it onto the peg until the block rests on the wooden base surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the upper wooden block rack toward the front green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, raising it completely off the dark table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand moves the green hexagonal block to the purple vertical peg on the wooden base, aligns the block's central hole with the peg, and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block steady on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses vertically down on the top surface of the green hexagonal block mounted on the wooden assembly stand to secure it."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward across the table toward the frontmost white hexagonal block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand positions its fingers around the frontmost white hexagonal block on the table, adjusting finger placement to establish a grip."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block fully leaves the black table surface."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand transports the lifted white hexagonal block leftward and upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers the block to fit it onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1432, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand holds the green and white cylindrical block, moves downward to seat the block onto the wooden base assembly, releases fingers to separate from the supported block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward while empty, approaching the small white hexagonal block on the dark table surface near the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, adjusts finger positions and closes fingers to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table and lifts it upward until the nut is completely off the dark table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it upward then horizontally to the position directly above the purple rod on the light wooden rack."}, {"label": "subtasks", "start_step": 1650, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the top of the purple rod, moves the nut downward to fit it onto the rod, opens fingers to release the nut on the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and slightly right toward the white hexagonal nut on the dark work surface, with fingers held in an extended posture."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, fingers closing and making small adjustments to establish a secure grip on the nut."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand holds the white cylindrical block resting on the black table surface and lifts it upward until the block is completely separated from the table."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white cylindrical block upward through the air toward the empty slot on the wooden block rack, stopping directly above the slot."}, {"label": "subtasks", "start_step": 1868, "end_step": 1957, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand adjusts the white cylindrical block to align with the empty slot on the wooden rack and inserts the block into the slot until it is stably seated in the rack."}, {"label": "subtasks", "start_step": 1958, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the stably seated white cylindrical block on the wooden rack without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand holds the white cap, adjusts its position over the purple post on the light wooden base, presses the cap down to a stable seated position, opens fingers to release contact with the cap."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the green cube on the table, closes fingers around the cube to establish a stable grip."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand moves the stably grasped green cube upward, lifting the cube fully off the dark table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand holds the green block, transports it upward and forward to the position directly above the target purple-capped cylinder on the wooden block base."}, {"label": "subtasks", "start_step": 2302, "end_step": 2369, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand makes slight positional adjustments to the held green block, aligns its central hole with the top of the target purple-capped cylinder for assembly."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand moves the aligned green block downward onto the target cylinder until the block is stably supported, opens fingers to release grip on the green block."}], "episode_index": 5}
+{"source_uid": "22856573e4a9bb03", "num_frames": 2463, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from the lower left position to the left home position. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green block on the left side of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 175, "id": "514495ec-1bdc-4eed-a3dd-61b673f5c3c7"}, {"label": "valid", "start_step": 0, "end_step": 2431, "id": "ArbVjkiHF2X5RFOgj5xQc"}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green block on the left side of the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green block without any observable movement."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green cube on the table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 176, "end_step": 310, "id": "ac6ebca2-4d7f-40ac-81fe-c1b0afa929e6"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table surface and transports it to above the leftmost peg of the wooden board."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green cube with the leftmost peg on the wooden board, moving downward to fit the cube onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green cube fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place_release: Right hand places the green hexagonal block onto the base of the leftmost purple peg and releases it."}, {"label": "goal", "start_step": 311, "end_step": 435, "id": "be7f6e5b-4d2f-4e85-a99a-d26fa28e2db2"}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left side of the table, moving down from the peg assembly area."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the white hex nut up from the black table surface."}, {"label": "goal", "start_step": 436, "end_step": 580, "id": "31d9afe1-cdfa-4af0-9cb6-dfc36d5d8d3f"}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the white hex nut towards the leftmost vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hex nut onto the leftmost vertical peg by moving downwards to fit over the peg."}, {"label": "subtasks", "start_step": 488, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hex nut on the leftmost vertical peg over the green base without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand fits the white holed cylindrical piece onto the leftmost vertical peg and releases its grip."}, {"label": "goal", "start_step": 581, "end_step": 700, "id": "40844425-8af4-4f38-812c-9e65d373d9ff"}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing and adjusting contact position."}, {"label": "goal", "start_step": 701, "end_step": 825, "id": "d0fc01b9-a38b-4a72-918e-a54cc9d58af4"}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the back peg board."}, {"label": "subtasks", "start_step": 728, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning and pushing it down to the green base."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 818, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: idle: Right hand remains empty above the leftmost peg without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward from the top of the peg block set to approach the white hexagonal cube on the table in front of the wooden base."}, {"label": "goal", "start_step": 826, "end_step": 925, "id": "06464e5d-d3fc-4683-bff6-55dbcd453a72"}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal cube on the table in front of the wooden base, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal cube on the table in front of the wooden base without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 926, "end_step": 1045, "id": "98c6b853-ec8c-446c-a30b-f1856fda98a6"}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the top of the middle purple peg."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg by lowering and fitting it over the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the right purple rod of the wooden base."}, {"label": "goal", "start_step": 1046, "end_step": 1135, "id": "3d5ca50e-d1db-4ebd-a6bf-8f2cf2a7ba96"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1136, "end_step": 1320, "id": "50bb8231-9633-41a1-b02b-e64095557c0a"}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position right above the peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green block with the peg and inserts it downwards to complete the assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the green block, with fingers separating from the block."}, {"label": "goal", "start_step": 1321, "end_step": 1445, "id": "34849aeb-25a2-49f9-b0ae-8be6915ea927"}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1431, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the black table surface and transports it upward and rightward to the position above the peg rack."}, {"label": "goal", "start_step": 1446, "end_step": 1550, "id": "1655e726-40bd-44b7-9de9-73ebd63006dc"}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the vertical peg of the rack, moving downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hollow block on the purple peg above the green block without moving."}, {"label": "goal", "start_step": 1551, "end_step": 1665, "id": "c2103d0e-4efa-4f48-a852-5b4e7947c9ab"}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release_reach: Right hand releases the white hollow block on the purple peg and moves toward the white hollow hexagonal block on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table with fingers closing to form a grip."}, {"label": "subtasks", "start_step": 1642, "end_step": 1657, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the white hollow hexagonal block upward from the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the white cylindrical part upward and leftward toward the purple rod on the wooden base."}, {"label": "goal", "start_step": 1666, "end_step": 1780, "id": "9aade0d8-c441-4058-af20-9dd935e3d01a"}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical part with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical part on the purple rod without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place_release: Right hand places the white block onto the purple rod and releases it."}, {"label": "goal", "start_step": 1781, "end_step": 1865, "id": "5da37751-7137-4308-a878-11161541a553"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward to approach the white block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1957, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white block on the table surface with fingers closing and adjusting."}, {"label": "goal", "start_step": 1866, "end_step": 2135, "id": "f9efa574-9a6b-4424-aa67-c5a62777b913"}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the dark table surface and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2002, "end_step": 2084, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod of the wooden rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical object on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press_release: Right hand presses the purple small cylinder into the top of the front-right white cylindrical block on the wooden base and releases its grip."}, {"label": "goal", "start_step": 2136, "end_step": 2265, "id": "16b8b7d2-3268-4985-b19d-e4b8a7bba925"}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves down-right toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2257, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green cubic block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the dark table surface."}, {"label": "goal", "start_step": 2266, "end_step": 2395, "id": "88b72276-667f-4c8a-9f6e-abcf0fd914c4"}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the green ring-shaped object upward and leftward to the top of the rightmost bottle with a purple rod."}, {"label": "subtasks", "start_step": 2302, "end_step": 2361, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green ring-shaped object with the purple rod of the rightmost bottle and fits it downward onto the bottle."}, {"label": "subtasks", "start_step": 2362, "end_step": 2399, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green ring-shaped object on the rightmost bottle without moving."}, {"label": "home", "start_step": 2432, "end_step": 2462, "id": "7_BCVObhy3nWUujxDjo9n"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from the lower left position to the left home position. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green block on the left side of the wooden rack."}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green block on the left side of the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green block without any observable movement."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green cube on the table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table surface and transports it to above the leftmost peg of the wooden board."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green cube with the leftmost peg on the wooden board, moving downward to fit the cube onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green cube fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place_release: Right hand places the green hexagonal block onto the base of the leftmost purple peg and releases it."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left side of the table, moving down from the peg assembly area."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the white hex nut up from the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the white hex nut towards the leftmost vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hex nut onto the leftmost vertical peg by moving downwards to fit over the peg."}, {"label": "subtasks", "start_step": 488, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hex nut on the leftmost vertical peg over the green base without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand fits the white holed cylindrical piece onto the leftmost vertical peg and releases its grip."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the back peg board."}, {"label": "subtasks", "start_step": 728, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning and pushing it down to the green base."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 818, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: idle: Right hand remains empty above the leftmost peg without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward from the top of the peg block set to approach the white hexagonal cube on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal cube on the table in front of the wooden base, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal cube on the table in front of the wooden base without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the top of the middle purple peg."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg by lowering and fitting it over the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the right purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position right above the peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green block with the peg and inserts it downwards to complete the assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the green block, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1431, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the black table surface and transports it upward and rightward to the position above the peg rack."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the vertical peg of the rack, moving downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hollow block on the purple peg above the green block without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release_reach: Right hand releases the white hollow block on the purple peg and moves toward the white hollow hexagonal block on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table with fingers closing to form a grip."}, {"label": "subtasks", "start_step": 1642, "end_step": 1657, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the white hollow hexagonal block upward from the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the white cylindrical part upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical part with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical part on the purple rod without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place_release: Right hand places the white block onto the purple rod and releases it."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward to approach the white block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1957, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white block on the table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the dark table surface and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2002, "end_step": 2084, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod of the wooden rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical object on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press_release: Right hand presses the purple small cylinder into the top of the front-right white cylindrical block on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves down-right toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2257, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green cubic block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the dark table surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the green ring-shaped object upward and leftward to the top of the rightmost bottle with a purple rod."}, {"label": "subtasks", "start_step": 2302, "end_step": 2361, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green ring-shaped object with the purple rod of the rightmost bottle and fits it downward onto the bottle."}, {"label": "subtasks", "start_step": 2362, "end_step": 2399, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green ring-shaped object on the rightmost bottle without moving."}], "episode_index": 6}
+{"source_uid": "ce000d45d4d69a51", "num_frames": 2418, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward toward the green hexagonal block on the black table."}, {"label": "goal", "start_step": 0, "end_step": 190, "id": "51189023-fb99-48d7-ac97-d34b12be7f42"}, {"label": "valid", "start_step": 0, "end_step": 2386, "id": "yVenWuZS8Z2ZpIH1aY-kc"}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers close to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 191, "end_step": 325, "id": "f2650b02-11e0-45b5-af2a-b0bd8b81806a"}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to secure it tightly."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 326, "end_step": 435, "id": "b1bab10a-0af8-41eb-946f-7a16f90d6fd6"}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 436, "end_step": 575, "id": "08aae8c1-4f21-483d-b1d9-62df9a62a24d"}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block onto the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 576, "end_step": 660, "id": "0dc95fab-ca37-400f-9dae-ea53d89f0de4"}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 661, "end_step": 920, "id": "8c297dec-28a7-428a-9642-9d517b8ed085"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, then transports it to the position above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg, then inserts it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block placed on the black table surface."}, {"label": "goal", "start_step": 921, "end_step": 1005, "id": "660a0a5e-2743-4b54-87d3-f10a2a9cf07f"}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hollow block on the black table surface."}, {"label": "goal", "start_step": 1006, "end_step": 1185, "id": "aa250698-9fcd-43da-889d-3f789195e281"}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white hexagonal block above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1177, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1178, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the table."}, {"label": "goal", "start_step": 1186, "end_step": 1290, "id": "871e5c88-5427-47da-9624-1ea9bac2b7a2"}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers close to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward away from the table surface."}, {"label": "goal", "start_step": 1291, "end_step": 1430, "id": "6e1fa864-ebd2-4cc0-8eea-462c4a4b5606"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the green block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the vertical rod on the wooden base."}, {"label": "goal", "start_step": 1431, "end_step": 1555, "id": "f6c8f27f-03c6-45a7-8bfd-f6ddd687ac63"}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object from the black table surface."}, {"label": "goal", "start_step": 1556, "end_step": 1660, "id": "e1327aa8-aa1e-42bd-b2de-b2748acc3625"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1582, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the target peg on the wooden base."}, {"label": "goal", "start_step": 1661, "end_step": 1750, "id": "2fe949fa-766a-4e29-a876-49fa39850928"}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards and rightwards towards the white cylindrical ring on the table surface, not yet touching the object."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical ring on the table surface, adjusting grip to secure the object."}, {"label": "goal", "start_step": 1751, "end_step": 1870, "id": "de06aabd-8a42-4ee8-b0ce-c034f6c8629b"}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table surface and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base, adjusting to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1871, "end_step": 1960, "id": "0b3837dc-b8a1-4768-bf68-59118b390740"}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the table on the right of the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "goal", "start_step": 1961, "end_step": 2100, "id": "736d8718-1e00-4bfc-821a-40d6ab891018"}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2099, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the white cylindrical block with the purple rod, inserts it onto the rod and releases the block."}, {"label": "subtasks", "start_step": 2100, "end_step": 2151, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube placed on the table surface."}, {"label": "goal", "start_step": 2101, "end_step": 2210, "id": "4ea6406c-dd40-46d7-a606-52279170e4cd"}, {"label": "subtasks", "start_step": 2152, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cube and adjusts fingers to form a stable grasp on it."}, {"label": "goal", "start_step": 2211, "end_step": 2350, "id": "6b5bd299-4af1-42ad-ae86-e00b32f8ae22"}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block off the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the rightmost white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white cylinder."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green block onto the top of the target white cylinder until it is supported."}, {"label": "subtasks", "start_step": 2318, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden base after releasing the green block."}, {"label": "home", "start_step": 2387, "end_step": 2417, "id": "3eynxgbBwKXC2s6ahf2gD"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers close to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to secure it tightly."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, then transports it to the position above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg, then inserts it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block placed on the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hollow block on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white hexagonal block above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1177, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1178, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers close to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the green block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object from the black table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1582, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards and rightwards towards the white cylindrical ring on the table surface, not yet touching the object."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical ring on the table surface, adjusting grip to secure the object."}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table surface and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base, adjusting to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the table on the right of the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2099, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the white cylindrical block with the purple rod, inserts it onto the rod and releases the block."}, {"label": "subtasks", "start_step": 2100, "end_step": 2151, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube placed on the table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cube and adjusts fingers to form a stable grasp on it."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block off the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the rightmost white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white cylinder."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green block onto the top of the target white cylinder until it is supported."}, {"label": "subtasks", "start_step": 2318, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden base after releasing the green block."}], "episode_index": 7}
+{"source_uid": "f6601dab50d79cc7", "num_frames": 2915, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: idle: Right hand remains empty at the right side of the table surface without contacting any target objects or producing obvious displacement."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "11a12a31-d40c-47cf-8fd0-be8ccc0c041a"}, {"label": "valid", "start_step": 0, "end_step": 2884, "id": "NTWu6LgMIq_gyhd66AgCP"}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty toward the lower-left, approaching the green hexagonal block positioned in front-left of the wooden block base."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand adjusts finger positions and closes digits around the front-left green hexagonal block to form a stable grasp."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand holds the green hexagonal block on the wooden base, moves upward to lift the block completely off the support surface."}, {"label": "goal", "start_step": 201, "end_step": 350, "id": "56afafc0-eb9e-4046-a51e-8866bdad052f"}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand carries the lifted green hexagonal block, aligns its central hole with the purple vertical peg, and moves downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement or adjustment."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple rod to place it onto the wooden base, opens fingers to release the block and separate from it."}, {"label": "goal", "start_step": 351, "end_step": 495, "id": "e9d68bd8-e2df-4be3-8ba2-9a6955353eb5"}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward toward the nearest white hexagonal block on the dark table surface, approaching the target until fingers make initial contact with the block."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block, adjusting finger contact positions to form a stable grip on the block which remains supported by the table."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the table surface, transports it upward toward the wooden base area."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand holds the white hexagonal block, moves upward to align the block with the purple post on the green wooden base, and fits the block onto the post."}, {"label": "goal", "start_step": 496, "end_step": 695, "id": "955dd1eb-9324-43ef-bf95-2397303cc9e5"}, {"label": "subtasks", "start_step": 525, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: press_release: Right hand presses the top surface of the left-front white hexagonal block on the purple rod of the wooden stand downward, fingers opening to release the block."}, {"label": "goal", "start_step": 696, "end_step": 805, "id": "ad9c042b-3884-43f3-ae9f-aa545a5b95fa"}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves downward with an empty hand toward the leftmost white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block on the table, adjusting finger positions to form a grasp."}, {"label": "goal", "start_step": 806, "end_step": 1340, "id": "f519d962-adf2-4fb6-b9e4-63c6c39a094a"}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white block with purple rod off the black table surface and moves it upward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the white block with purple rod with the target purple peg and lowers it to fit onto the peg, establishing the initial assembly connection."}, {"label": "subtasks", "start_step": 862, "end_step": 1334, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: press: Right hand applies repeated downward pressure on the assembled white block with purple rod, making slight finger adjustments to press the block fully onto the green base below the peg."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal block and fits it onto the purple rod mounted on the wooden base, making slight wrist adjustments to seat the block properly."}, {"label": "goal", "start_step": 1341, "end_step": 1465, "id": "32e9e673-a709-4999-a101-5afdc5c29614"}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward from the wooden assembly base toward the small white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, making subtle finger and wrist adjustments to establish a grasp on the block."}, {"label": "goal", "start_step": 1466, "end_step": 1600, "id": "00da6fcf-f503-4a22-8421-abb78e60c6c3"}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place: Right hand holds the white hexagonal block, moves it downward along the purple rod, and places it onto the wooden base of the assembly stand until the block is fully supported by the base."}, {"label": "goal", "start_step": 1601, "end_step": 1715, "id": "8d7b9901-98dc-4f97-b40f-6e6d7529f29e"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens its fingers to release the placed white hexagonal block on the purple rod, fully separating from the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves downward and slightly rightward from the assembly stand area toward the green hexagonal block on the dark work surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the work surface, fingers close and make slight positional adjustments to form a stable grasp around the block."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, moving the block completely away from the dark work surface."}, {"label": "goal", "start_step": 1716, "end_step": 1835, "id": "23149768-99f2-4558-9a41-c0608bd0b536"}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport_mate: Right hand moves the grasped green hexagonal block to the position directly above the purple post on the wooden assembly base, aligns the block with the post and seats it onto the post."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate_release: Right hand holds the green hexagonal block, aligns and fits it onto the corresponding vertical peg on the wooden base, releasing the block as it settles on the peg."}, {"label": "goal", "start_step": 1836, "end_step": 1940, "id": "10008eca-9b18-4222-8008-57dcfb06cf20"}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned to the left of the loose green block on the table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "goal", "start_step": 1941, "end_step": 2140, "id": "adaf7303-e7d8-4aed-a05a-a398550efcd0"}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table surface and moves it upward and toward the wooden block assembly holding stacked colored blocks and rods."}, {"label": "subtasks", "start_step": 1995, "end_step": 2129, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand positions the white hollow cylinder directly over the target purple rod on the wooden assembly, makes small positional and rotational adjustments, and nests the cylinder onto the rod while maintaining a grip on the cylinder."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place: Right hand holds the white hexagonal block and moves it downward to place it onto the green block in the stacked structure, until the block is stably supported by the green block below."}, {"label": "goal", "start_step": 2141, "end_step": 2275, "id": "33cb6b7c-1034-4f59-ad80-7b884884522a"}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens fingers to release the placed white hexagonal block, completing separation from the block."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal block on the table beside the wooden base, approaching the target block."}, {"label": "subtasks", "start_step": 2228, "end_step": 2264, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to establish a secure grasp on the block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand holds the small white part and lifts it upward off the dark table surface."}, {"label": "goal", "start_step": 2276, "end_step": 2410, "id": "42bcffd0-b2c2-46ea-90fc-ca8699de0002"}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport: Right hand carries the small white part upward to position it directly above the purple rod on the wooden block tray."}, {"label": "subtasks", "start_step": 2318, "end_step": 2399, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the small white part with the purple rod and moves it downward to fit the part onto the rod."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens fingers to release the white cylindrical piece on the purple rod, separating from the piece."}, {"label": "goal", "start_step": 2411, "end_step": 2500, "id": "6e410b87-900c-4aae-8cff-33964b1e036f"}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the black table surface, approaching the nut."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal nut resting on the table, lifting the nut slightly upward off the table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand lifts the gripped white hexagonal block upward off the black work surface."}, {"label": "goal", "start_step": 2501, "end_step": 2615, "id": "a14beb0f-935c-473e-a228-3077d0df5332"}, {"label": "subtasks", "start_step": 2505, "end_step": 2541, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport: Right hand transports the gripped white hexagonal block upward and rightward to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, and lowers the block to fit onto the rod and mate with the stacked blocks below."}, {"label": "subtasks", "start_step": 2565, "end_step": 2609, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without obvious movement."}, {"label": "subtasks", "start_step": 2610, "end_step": 2639, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand adjusts the white cylindrical piece, aligning it with the purple rod on the wooden base and seating it fully into the nested assembly."}, {"label": "goal", "start_step": 2616, "end_step": 2710, "id": "f612d433-2b9d-4620-b052-95b8ef9e29bf"}, {"label": "subtasks", "start_step": 2640, "end_step": 2669, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves diagonally downward and rightward toward the green square block on the dark table surface, with fingers held slightly spread."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand positions fingers around the green square block on the table, making small contact adjustments and closing fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 2711, "end_step": 2855, "id": "32cf2b55-e05d-47c2-921c-bf19e44d9f32"}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand moves upward to lift the green hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport: Right hand transports the grasped green hexagonal block upward and leftward to the position directly above the rightmost white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the rightmost white bottle, lowering the block to fit onto the bottle neck."}, {"label": "subtasks", "start_step": 2805, "end_step": 2849, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place: Right hand lowers the green hexagonal block further down along the white bottle until the block rests stably on the bottle, supported by the bottle."}, {"label": "subtasks", "start_step": 2850, "end_step": 2864, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block resting on the white bottle."}, {"label": "home", "start_step": 2885, "end_step": 2914, "id": "5BzDdCf4QodPMn_QwG6Us"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: idle: Right hand remains empty at the right side of the table surface without contacting any target objects or producing obvious displacement."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty toward the lower-left, approaching the green hexagonal block positioned in front-left of the wooden block base."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand adjusts finger positions and closes digits around the front-left green hexagonal block to form a stable grasp."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand holds the green hexagonal block on the wooden base, moves upward to lift the block completely off the support surface."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand carries the lifted green hexagonal block, aligns its central hole with the purple vertical peg, and moves downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement or adjustment."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple rod to place it onto the wooden base, opens fingers to release the block and separate from it."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward toward the nearest white hexagonal block on the dark table surface, approaching the target until fingers make initial contact with the block."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block, adjusting finger contact positions to form a stable grip on the block which remains supported by the table."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the table surface, transports it upward toward the wooden base area."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand holds the white hexagonal block, moves upward to align the block with the purple post on the green wooden base, and fits the block onto the post."}, {"label": "subtasks", "start_step": 525, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: press_release: Right hand presses the top surface of the left-front white hexagonal block on the purple rod of the wooden stand downward, fingers opening to release the block."}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves downward with an empty hand toward the leftmost white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block on the table, adjusting finger positions to form a grasp."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white block with purple rod off the black table surface and moves it upward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the white block with purple rod with the target purple peg and lowers it to fit onto the peg, establishing the initial assembly connection."}, {"label": "subtasks", "start_step": 862, "end_step": 1334, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: press: Right hand applies repeated downward pressure on the assembled white block with purple rod, making slight finger adjustments to press the block fully onto the green base below the peg."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal block and fits it onto the purple rod mounted on the wooden base, making slight wrist adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward from the wooden assembly base toward the small white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, making subtle finger and wrist adjustments to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place: Right hand holds the white hexagonal block, moves it downward along the purple rod, and places it onto the wooden base of the assembly stand until the block is fully supported by the base."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens its fingers to release the placed white hexagonal block on the purple rod, fully separating from the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves downward and slightly rightward from the assembly stand area toward the green hexagonal block on the dark work surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the work surface, fingers close and make slight positional adjustments to form a stable grasp around the block."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, moving the block completely away from the dark work surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport_mate: Right hand moves the grasped green hexagonal block to the position directly above the purple post on the wooden assembly base, aligns the block with the post and seats it onto the post."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate_release: Right hand holds the green hexagonal block, aligns and fits it onto the corresponding vertical peg on the wooden base, releasing the block as it settles on the peg."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned to the left of the loose green block on the table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table surface and moves it upward and toward the wooden block assembly holding stacked colored blocks and rods."}, {"label": "subtasks", "start_step": 1995, "end_step": 2129, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand positions the white hollow cylinder directly over the target purple rod on the wooden assembly, makes small positional and rotational adjustments, and nests the cylinder onto the rod while maintaining a grip on the cylinder."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place: Right hand holds the white hexagonal block and moves it downward to place it onto the green block in the stacked structure, until the block is stably supported by the green block below."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens fingers to release the placed white hexagonal block, completing separation from the block."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal block on the table beside the wooden base, approaching the target block."}, {"label": "subtasks", "start_step": 2228, "end_step": 2264, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to establish a secure grasp on the block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand holds the small white part and lifts it upward off the dark table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport: Right hand carries the small white part upward to position it directly above the purple rod on the wooden block tray."}, {"label": "subtasks", "start_step": 2318, "end_step": 2399, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the small white part with the purple rod and moves it downward to fit the part onto the rod."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens fingers to release the white cylindrical piece on the purple rod, separating from the piece."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the black table surface, approaching the nut."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal nut resting on the table, lifting the nut slightly upward off the table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand lifts the gripped white hexagonal block upward off the black work surface."}, {"label": "subtasks", "start_step": 2505, "end_step": 2541, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport: Right hand transports the gripped white hexagonal block upward and rightward to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, and lowers the block to fit onto the rod and mate with the stacked blocks below."}, {"label": "subtasks", "start_step": 2565, "end_step": 2609, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without obvious movement."}, {"label": "subtasks", "start_step": 2610, "end_step": 2639, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand adjusts the white cylindrical piece, aligning it with the purple rod on the wooden base and seating it fully into the nested assembly."}, {"label": "subtasks", "start_step": 2640, "end_step": 2669, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves diagonally downward and rightward toward the green square block on the dark table surface, with fingers held slightly spread."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand positions fingers around the green square block on the table, making small contact adjustments and closing fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand moves upward to lift the green hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport: Right hand transports the grasped green hexagonal block upward and leftward to the position directly above the rightmost white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the rightmost white bottle, lowering the block to fit onto the bottle neck."}, {"label": "subtasks", "start_step": 2805, "end_step": 2849, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place: Right hand lowers the green hexagonal block further down along the white bottle until the block rests stably on the bottle, supported by the bottle."}, {"label": "subtasks", "start_step": 2850, "end_step": 2864, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block resting on the white bottle."}], "episode_index": 8}
+{"source_uid": "2538cd49c93a465b", "num_frames": 2273, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the lower left position to the left home position above the table, with slight posture adjustment during movement. | Right hand: reach: Right hand moves from the right side of the table toward the target object near the front of the wooden rack, approaching the object without contact."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "64e21e8c-229c-4864-9661-071863ff260c"}, {"label": "valid", "start_step": 0, "end_step": 2240, "id": "_fnFEIbAsvHPwP66R1dtC"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves from the right side of the table toward the target object near the front of the wooden rack, approaching the object without contact."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes its fingers around the target object, with slight finger and wrist adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand aligns the held target object with the front peg of the wooden rack, fits the object onto the peg, and releases the object."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: retreat: Right hand moves upward away from the wooden rack, keeping empty during the movement."}, {"label": "goal", "start_step": 181, "end_step": 285, "id": "dbac43eb-bd10-413a-a609-70d20d3dd457"}, {"label": "subtasks", "start_step": 195, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green cube from the wooden base plate and transports it to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the green cube onto the leftmost purple peg by lowering it down along the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white block on the upper purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 286, "end_step": 380, "id": "a2ca4515-a738-4855-b803-6dcc6ad025f2"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the dark table, adjusting fingers to achieve a stable grip."}, {"label": "goal", "start_step": 381, "end_step": 510, "id": "72d6d436-52ed-48f0-86da-88c28708ca07"}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and moves it toward the wooden peg rack at the back of the frame."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple peg of the wooden rack and fits it downward onto the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand mates the white block onto the purple peg and releases its grip on the block."}, {"label": "goal", "start_step": 511, "end_step": 615, "id": "ee90e117-279b-4bbe-826a-12a818a0c004"}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the left white hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white cubic block on the black table surface without moving."}, {"label": "goal", "start_step": 616, "end_step": 750, "id": "53cf830c-d1c7-4cfe-9ae3-4e53788a5a23"}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_place: Right hand aligns the white cubic block with the leftmost purple peg and lowers it onto the lower block on the peg until it is supported."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white cubic block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the top of the leftmost post of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 751, "end_step": 855, "id": "2a42f0f9-8930-4d22-bb82-fc8caedc4d68"}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the table in the middle upper area."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the white cylindrical block upward off the table surface."}, {"label": "goal", "start_step": 856, "end_step": 970, "id": "fce88afe-2ac1-4123-a5b7-abf396449014"}, {"label": "subtasks", "start_step": 870, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white perforated hexagonal block from the table surface and transports it to the top of the rightmost purple peg on the pegboard."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white perforated hexagonal block onto the rightmost purple peg by lowering it down the peg."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white perforated hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white ring onto the middle purple peg of the wooden base."}, {"label": "goal", "start_step": 971, "end_step": 1060, "id": "63138280-c9e2-4b51-959a-97bdd3ebf5b5"}, {"label": "subtasks", "start_step": 990, "end_step": 997, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white ring from its grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers closing around it."}, {"label": "goal", "start_step": 1061, "end_step": 1220, "id": "bbe66eaf-5e02-47d6-81db-31a38d3d6697"}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport_mate: Right hand carries the green hexagonal block to align with the middle peg on the wooden base and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand fits the white hollow block onto the purple vertical post and releases the block."}, {"label": "goal", "start_step": 1221, "end_step": 1330, "id": "60891b33-1a65-4640-8bf6-9aa8d923ca6d"}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal hollow block on the table."}, {"label": "subtasks", "start_step": 1290, "end_step": 1364, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal hollow block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1331, "end_step": 1495, "id": "8ef459fa-be06-40cf-9cba-063a98b08863"}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it upwards and leftwards toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white hollow cylindrical block with the green block on the wooden base by aligning the block's hole with the peg and inserting it downwards."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white hollow cylindrical block, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1496, "end_step": 1595, "id": "6ce1f4b3-183d-4420-8f14-5e6682bd0f93"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the small white cylinder from the table surface."}, {"label": "goal", "start_step": 1596, "end_step": 1745, "id": "89df42ff-99cb-4664-a190-540992d3457d"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand transports the small white cylinder leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the small white cylinder with the purple rod and fits it onto the purple rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the small white cylinder fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand mates the white hollow block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1746, "end_step": 1840, "id": "ef537698-cde6-485a-8f73-ace30c2ba549"}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1851, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1841, "end_step": 1965, "id": "cc973bd2-84a7-4e1e-88da-cd3fed265a43"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and leftward toward the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod on the wooden rack, lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white cylindrical object on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses the purple rod down into the white cylinder on the wooden base."}, {"label": "goal", "start_step": 1966, "end_step": 2065, "id": "560905e2-a237-4574-b5d6-8242dbef64e2"}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downwards and leftwards towards the green cube on the table."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cube on the table with fingers closing and adjusting around the object."}, {"label": "goal", "start_step": 2066, "end_step": 2195, "id": "3727b90b-a9e2-4262-85c7-a81729ff9cdc"}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the green block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand transports the green block toward the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2108, "end_step": 2159, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and fits it down onto the bottle."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green block fitted on the white bottle without moving."}, {"label": "home", "start_step": 2241, "end_step": 2272, "id": "pTmjeT6qpbvd4VFTHCsNr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the lower left position to the left home position above the table, with slight posture adjustment during movement. | Right hand: reach: Right hand moves from the right side of the table toward the target object near the front of the wooden rack, approaching the object without contact."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves from the right side of the table toward the target object near the front of the wooden rack, approaching the object without contact."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes its fingers around the target object, with slight finger and wrist adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand aligns the held target object with the front peg of the wooden rack, fits the object onto the peg, and releases the object."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: retreat: Right hand moves upward away from the wooden rack, keeping empty during the movement."}, {"label": "subtasks", "start_step": 195, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green cube from the wooden base plate and transports it to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the green cube onto the leftmost purple peg by lowering it down along the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white block on the upper purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the dark table, adjusting fingers to achieve a stable grip."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and moves it toward the wooden peg rack at the back of the frame."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple peg of the wooden rack and fits it downward onto the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand mates the white block onto the purple peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the left white hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white cubic block on the black table surface without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_place: Right hand aligns the white cubic block with the leftmost purple peg and lowers it onto the lower block on the peg until it is supported."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white cubic block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the top of the leftmost post of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the table in the middle upper area."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the white cylindrical block upward off the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white perforated hexagonal block from the table surface and transports it to the top of the rightmost purple peg on the pegboard."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white perforated hexagonal block onto the rightmost purple peg by lowering it down the peg."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white perforated hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white ring onto the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 997, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white ring from its grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport_mate: Right hand carries the green hexagonal block to align with the middle peg on the wooden base and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand fits the white hollow block onto the purple vertical post and releases the block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal hollow block on the table."}, {"label": "subtasks", "start_step": 1290, "end_step": 1364, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal hollow block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it upwards and leftwards toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white hollow cylindrical block with the green block on the wooden base by aligning the block's hole with the peg and inserting it downwards."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white hollow cylindrical block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the small white cylinder from the table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand transports the small white cylinder leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the small white cylinder with the purple rod and fits it onto the purple rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the small white cylinder fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand mates the white hollow block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1851, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and leftward toward the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod on the wooden rack, lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white cylindrical object on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses the purple rod down into the white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downwards and leftwards towards the green cube on the table."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cube on the table with fingers closing and adjusting around the object."}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the green block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand transports the green block toward the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2108, "end_step": 2159, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and fits it down onto the bottle."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green block fitted on the white bottle without moving."}], "episode_index": 9}
+{"source_uid": "f1ebfccbd62f2462", "num_frames": 2908, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_position: Left hand moves slightly upward to adjust its position. | Right hand: reach: Right hand moves toward the white cylindrical parts on the central wooden base."}, {"label": "goal", "start_step": 0, "end_step": 220, "id": "86deeb44-061b-40af-8723-3dbf6a780450"}, {"label": "valid", "start_step": 0, "end_step": 2876, "id": "RXeNT0FCkCv6STDbnLQRm"}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical parts on the central wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: push: Right hand pushes the white parts on the wooden base, tilting the wooden base to the left."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the green square block in front of the tilted wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand opens fingers to release the grasped green square block."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it to the position above the purple post on the wooden base."}, {"label": "goal", "start_step": 221, "end_step": 325, "id": "482123d1-8179-4ccd-a7dc-128b3c99b3ca"}, {"label": "subtasks", "start_step": 240, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple post of the wooden base by inserting it downward."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the green block onto the purple rod on the wooden base and releases the grip on the block."}, {"label": "goal", "start_step": 326, "end_step": 435, "id": "1e81ebb3-1274-4a98-92b1-2974ff905085"}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 390, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 436, "end_step": 605, "id": "fdb666bf-1ad5-49a3-bc01-b71087cd4954"}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod fixed on the wooden base."}, {"label": "goal", "start_step": 606, "end_step": 725, "id": "044a84ce-13e7-440e-8fac-86c898734a0a"}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the leftmost white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 726, "end_step": 850, "id": "6dbe06e6-5522-4124-bf7e-acd0347d3473"}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 851, "end_step": 950, "id": "e8ecb28b-64f6-493d-acb9-10a80a17aa62"}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward to reach the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 981, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white ring on the table in front of the wooden base."}, {"label": "goal", "start_step": 951, "end_step": 1130, "id": "5f63ecba-d4fc-4b19-9223-1f1e950a7a23"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1131, "end_step": 1225, "id": "4dab525c-5aa9-47df-a696-b2256c09908d"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves down towards the green square block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand touches the green square block and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 1226, "end_step": 1490, "id": "61a1393b-4a2a-4368-9001-79bc231c4527"}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green block off the black tabletop."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the green block to the area above the target post on the wooden rack."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green block with the target post and inserts it onto the post."}, {"label": "subtasks", "start_step": 1305, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green block down along the post to secure it in place."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green block onto the post of the wooden base."}, {"label": "goal", "start_step": 1491, "end_step": 1595, "id": "9a818c47-39bf-492f-b847-09dbd9a5d384"}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1596, "end_step": 1725, "id": "cf0cb8fb-ae03-48ca-a35f-984109727123"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1628, "end_step": 1724, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white block placed on the top of the green block on the wooden base."}, {"label": "goal", "start_step": 1726, "end_step": 1845, "id": "5d8e0712-8279-4ded-a14f-9917894c56a8"}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downwards towards the white block on the black tabletop next to the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the black tabletop."}, {"label": "subtasks", "start_step": 1822, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the grasped white block upwards from the black tabletop."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand carries the lifted white block towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "goal", "start_step": 1846, "end_step": 2040, "id": "d66e4624-f6f5-4406-9d58-b85bb601018b"}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 2024, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting to fit it onto the rod properly."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white hexagonal block which is now fitted on the purple rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "goal", "start_step": 2041, "end_step": 2125, "id": "9085185e-7c64-45ff-9e08-43f72b516120"}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the desktop."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the desktop."}, {"label": "goal", "start_step": 2126, "end_step": 2250, "id": "31232179-3cfa-439f-90a4-334b18d69f6c"}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2249, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod, pressing it down to complete the assembly."}, {"label": "subtasks", "start_step": 2250, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward from the position near the white bottle array toward the green block on the table."}, {"label": "goal", "start_step": 2251, "end_step": 2350, "id": "36df4fbe-1d12-47b7-9948-8d34aa5140d5"}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand makes contact with the green block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green block on the table without any observable movement."}, {"label": "subtasks", "start_step": 2340, "end_step": 2399, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers slightly to form a stable grip."}, {"label": "goal", "start_step": 2351, "end_step": 2705, "id": "2c80cb20-2d1a-48cb-be64-cb92305d6985"}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2430, "end_step": 2691, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle for assembly."}, {"label": "subtasks", "start_step": 2692, "end_step": 2714, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green block down onto the white bottle to secure the assembly."}, {"label": "home", "start_step": 2877, "end_step": 2907, "id": "t00Kz_x0u_awPIP27uUMB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_position: Left hand moves slightly upward to adjust its position. | Right hand: reach: Right hand moves toward the white cylindrical parts on the central wooden base."}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical parts on the central wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: push: Right hand pushes the white parts on the wooden base, tilting the wooden base to the left."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the green square block in front of the tilted wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand opens fingers to release the grasped green square block."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple post of the wooden base by inserting it downward."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the green block onto the purple rod on the wooden base and releases the grip on the block."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 390, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward to reach the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 981, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves down towards the green square block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand touches the green square block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green block off the black tabletop."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the green block to the area above the target post on the wooden rack."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green block with the target post and inserts it onto the post."}, {"label": "subtasks", "start_step": 1305, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green block down along the post to secure it in place."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green block onto the post of the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1628, "end_step": 1724, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white block placed on the top of the green block on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downwards towards the white block on the black tabletop next to the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the black tabletop."}, {"label": "subtasks", "start_step": 1822, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the grasped white block upwards from the black tabletop."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand carries the lifted white block towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 2024, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting to fit it onto the rod properly."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white hexagonal block which is now fitted on the purple rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the desktop."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the desktop."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2249, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod, pressing it down to complete the assembly."}, {"label": "subtasks", "start_step": 2250, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward from the position near the white bottle array toward the green block on the table."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand makes contact with the green block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green block on the table without any observable movement."}, {"label": "subtasks", "start_step": 2340, "end_step": 2399, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers slightly to form a stable grip."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2430, "end_step": 2691, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle for assembly."}, {"label": "subtasks", "start_step": 2692, "end_step": 2714, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green block down onto the white bottle to secure the assembly."}], "episode_index": 10}
+{"source_uid": "22cebcc5fecd831a", "num_frames": 3364, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: idle: Right hand remains empty at the upper right initial position, away from the table objects, without noticeable movement."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "328d8bbf-1e1f-4b81-be9b-8d86f362e790"}, {"label": "valid", "start_step": 0, "end_step": 3333, "id": "rZxGFHGfIBlgXZo6nEu-a"}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward and leftward toward the green hexagonal nut positioned in front-left of the wooden block base."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers to contact the green hexagonal nut on the table, adjusting finger positions to establish a grip."}, {"label": "goal", "start_step": 161, "end_step": 280, "id": "be9a3a2e-56cf-4a4f-b4c9-3d721fb39f11"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block upward off the table surface and moves it to the position directly above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand moves the green hexagonal block downward to align and fit it onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate_release: Right hand holds the green hexagonal block, aligns it with the purple peg on the wooden pegboard, moves the block downward to fit it onto the peg, and releases the block."}, {"label": "goal", "start_step": 281, "end_step": 405, "id": "4375cf72-6933-48b2-bf71-389eaaf946e0"}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the frontmost white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the frontmost white hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 406, "end_step": 590, "id": "f114d0a5-279a-4b41-8d36-cdd0ab4fc65f"}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the work surface and moves it backward and upward to the position above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 442, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and makes small adjustments to guide the nut down the peg for assembly."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple rod on the wooden base and releases the held block."}, {"label": "goal", "start_step": 591, "end_step": 695, "id": "bbcd1145-6af9-4773-bfde-79b059f7ceb3"}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight adjustments to establish a stable grip."}, {"label": "goal", "start_step": 696, "end_step": 850, "id": "b42ee41b-4680-4b93-9f7a-6224b01b3d23"}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely away from the black table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 742, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat it on the purple rod of the wooden assembly base, and opens fingers to release the block."}, {"label": "goal", "start_step": 851, "end_step": 970, "id": "adb95d43-0da5-4d5e-881c-effc7ebcb16c"}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal cylinder placed on the table near the wooden base, fingers tightening to stabilize the grasp."}, {"label": "goal", "start_step": 971, "end_step": 1075, "id": "a8a9e935-9b31-446c-8354-2f4dbb69039b"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder off the table surface and moves it upward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple rod on the wooden base and lowers it to fit onto the rod, completing the assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal cylinder fitted on the purple rod without moving, maintaining a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1101, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand holds the white hexagonal nut, moves it downward to place it onto the purple rod on the wooden base, fingers open to release the nut."}, {"label": "goal", "start_step": 1076, "end_step": 1190, "id": "6beb98da-4bdb-48ba-a847-b64b1e4fddee"}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers gradually close and adjust contact position to establish a grasp on the block."}, {"label": "goal", "start_step": 1191, "end_step": 1405, "id": "334eb46b-1151-4d61-b461-7cadba7305ed"}, {"label": "subtasks", "start_step": 1222, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface, moving it upward and backward to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, makes slight positional adjustments, and moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place: Right hand holds the green hexagonal block and moves it downward to place it onto the stacked blocks on the wooden base until the block is supported."}, {"label": "goal", "start_step": 1406, "end_step": 1515, "id": "de5d8e32-7bbd-4d32-aa19-849010d93db6"}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating from the block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block near the green block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1551, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to establish a grip."}, {"label": "goal", "start_step": 1516, "end_step": 1740, "id": "c41d2857-c1e2-4f04-8a8e-178a94e02dfe"}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal prism upward until it fully separates from the table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand moves the lifted white hexagonal prism toward the wooden block assembly, positioning it directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal prism with the purple vertical rod, lowering the prism to fit onto the rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1739, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal prism fitted on the purple rod of the wooden assembly without any observable movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it on the corresponding peg of the wooden assembly base, releasing the block as it is supported by the peg."}, {"label": "goal", "start_step": 1741, "end_step": 1895, "id": "915380bc-65bc-4abf-839f-f281b358b9b2"}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty from above the wooden assembly base toward the small white hexagonal block on the table adjacent to the base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal block on the table, making minor finger adjustments to establish a secure grasp on the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand holds the small white cylindrical block and lifts it upward off the dark table surface."}, {"label": "goal", "start_step": 1896, "end_step": 2055, "id": "a238d5cd-9000-4936-8dcb-3f090d82354e"}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the small white cylindrical block upward and leftward to the position directly above the purple rod on the light wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the small white cylindrical block stationary directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate_release: Right hand lowers the small white cylindrical block downward to fit it onto the purple rod, fingers opening to release the block onto the supporting wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand places the purple cylindrical post into the corresponding hole on the wooden block base, opens fingers to release the stably seated post."}, {"label": "goal", "start_step": 2056, "end_step": 2165, "id": "25d1009b-caa0-4352-9eb6-61084916a3e3"}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward toward the small white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting contact points to form a stable grip."}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the small white hexagonal block on the table surface with no observable movement of the hand or block."}, {"label": "goal", "start_step": 2166, "end_step": 2345, "id": "a4670e1b-d83e-463d-b0ba-1f906f93253d"}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand lifts the grasped small white cylindrical block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted small white cylindrical block upward and toward the empty hole on the wooden block rack."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the small white cylindrical block with the empty hole on the wooden rack and inserts the block into the hole."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the inserted small white cylindrical block in the rack hole without moving."}, {"label": "subtasks", "start_step": 2332, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: release: Right hand opens fingers to release the small white cylindrical block settled in the rack hole."}, {"label": "subtasks", "start_step": 2340, "end_step": 2407, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty along an arcing path downward and rightward to approach the green square block on the dark gray work surface."}, {"label": "goal", "start_step": 2346, "end_step": 2445, "id": "14fb5393-7c17-44df-a15c-b4c9f8dbaeff"}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green square block to establish a secure grasp."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand grips the green block on the black table surface and lifts it upward, raising the block completely off the table."}, {"label": "goal", "start_step": 2446, "end_step": 3285, "id": "0c52d63d-6d66-424a-9227-092f8e4ff3eb"}, {"label": "subtasks", "start_step": 2468, "end_step": 2511, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted green block upward and toward the top right area of the wooden block rack, moving the block above the rightmost white cylinder."}, {"label": "subtasks", "start_step": 2512, "end_step": 2609, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand holds the green block above the rightmost white cylinder, adjusts the block's position to align with the cylinder, and attempts to fit the block onto the cylinder before the block slips and falls to the table."}, {"label": "subtasks", "start_step": 2610, "end_step": 2721, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward from the rack area toward the green block that fell onto the right side of the table, approaching the block."}, {"label": "subtasks", "start_step": 2722, "end_step": 2751, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the fallen green block on the table, establishing a stable grip on the block."}, {"label": "subtasks", "start_step": 2752, "end_step": 2804, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the grasped green block upward and leftward toward the front of the wooden rack, moving the block to a position just above the table surface in front of the rack."}, {"label": "subtasks", "start_step": 2805, "end_step": 2819, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand lowers the green block onto the table surface in front of the rack, then opens fingers to release the block, separating the hand from the block."}, {"label": "subtasks", "start_step": 2820, "end_step": 2864, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty a short distance toward the green block placed on the table in front of the rack, approaching to grasp the block again."}, {"label": "subtasks", "start_step": 2865, "end_step": 3059, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reorient: Right hand holds the green block just above the table in front of the rack, rotates the wrist repeatedly to adjust the block's orientation by small angles, making fine adjustments to align the block's central hole."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: release: Right hand opens fingers to release the green block, allowing the block to rest on the table surface as the hand separates from the block."}, {"label": "subtasks", "start_step": 3075, "end_step": 3104, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: idle: Right hand remains empty next to the green block on the table, staying stationary without contacting any objects."}, {"label": "subtasks", "start_step": 3105, "end_step": 3179, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand moves slightly toward the green block, closes fingers around the block to establish a secure grip, adjusting finger contact points to stabilize the hold."}, {"label": "subtasks", "start_step": 3180, "end_step": 3194, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand grips the green block and lifts it upward, raising the block completely off the table surface."}, {"label": "subtasks", "start_step": 3195, "end_step": 3231, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted green block upward, moving the block to a position directly above the rightmost white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 3232, "end_step": 3299, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the green block's central hole with the top of the rightmost white cylinder, lowers the block to fit it onto the cylinder, adjusting position until the block sits stably on the cylinder."}, {"label": "home", "start_step": 3334, "end_step": 3363, "id": "MtgvYkx41Wtzf9z93SStr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: idle: Right hand remains empty at the upper right initial position, away from the table objects, without noticeable movement."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward and leftward toward the green hexagonal nut positioned in front-left of the wooden block base."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers to contact the green hexagonal nut on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block upward off the table surface and moves it to the position directly above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand moves the green hexagonal block downward to align and fit it onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate_release: Right hand holds the green hexagonal block, aligns it with the purple peg on the wooden pegboard, moves the block downward to fit it onto the peg, and releases the block."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the frontmost white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the frontmost white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the work surface and moves it backward and upward to the position above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 442, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and makes small adjustments to guide the nut down the peg for assembly."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple rod on the wooden base and releases the held block."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely away from the black table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 742, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat it on the purple rod of the wooden assembly base, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal cylinder placed on the table near the wooden base, fingers tightening to stabilize the grasp."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder off the table surface and moves it upward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple rod on the wooden base and lowers it to fit onto the rod, completing the assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal cylinder fitted on the purple rod without moving, maintaining a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1101, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand holds the white hexagonal nut, moves it downward to place it onto the purple rod on the wooden base, fingers open to release the nut."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers gradually close and adjust contact position to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface, moving it upward and backward to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, makes slight positional adjustments, and moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place: Right hand holds the green hexagonal block and moves it downward to place it onto the stacked blocks on the wooden base until the block is supported."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating from the block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block near the green block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1551, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal prism upward until it fully separates from the table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand moves the lifted white hexagonal prism toward the wooden block assembly, positioning it directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal prism with the purple vertical rod, lowering the prism to fit onto the rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1739, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal prism fitted on the purple rod of the wooden assembly without any observable movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it on the corresponding peg of the wooden assembly base, releasing the block as it is supported by the peg."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty from above the wooden assembly base toward the small white hexagonal block on the table adjacent to the base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal block on the table, making minor finger adjustments to establish a secure grasp on the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand holds the small white cylindrical block and lifts it upward off the dark table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the small white cylindrical block upward and leftward to the position directly above the purple rod on the light wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the small white cylindrical block stationary directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate_release: Right hand lowers the small white cylindrical block downward to fit it onto the purple rod, fingers opening to release the block onto the supporting wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand places the purple cylindrical post into the corresponding hole on the wooden block base, opens fingers to release the stably seated post."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward toward the small white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting contact points to form a stable grip."}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the small white hexagonal block on the table surface with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand lifts the grasped small white cylindrical block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted small white cylindrical block upward and toward the empty hole on the wooden block rack."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the small white cylindrical block with the empty hole on the wooden rack and inserts the block into the hole."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the inserted small white cylindrical block in the rack hole without moving."}, {"label": "subtasks", "start_step": 2332, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: release: Right hand opens fingers to release the small white cylindrical block settled in the rack hole."}, {"label": "subtasks", "start_step": 2340, "end_step": 2407, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty along an arcing path downward and rightward to approach the green square block on the dark gray work surface."}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green square block to establish a secure grasp."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand grips the green block on the black table surface and lifts it upward, raising the block completely off the table."}, {"label": "subtasks", "start_step": 2468, "end_step": 2511, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted green block upward and toward the top right area of the wooden block rack, moving the block above the rightmost white cylinder."}, {"label": "subtasks", "start_step": 2512, "end_step": 2609, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand holds the green block above the rightmost white cylinder, adjusts the block's position to align with the cylinder, and attempts to fit the block onto the cylinder before the block slips and falls to the table."}, {"label": "subtasks", "start_step": 2610, "end_step": 2721, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward from the rack area toward the green block that fell onto the right side of the table, approaching the block."}, {"label": "subtasks", "start_step": 2722, "end_step": 2751, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the fallen green block on the table, establishing a stable grip on the block."}, {"label": "subtasks", "start_step": 2752, "end_step": 2804, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the grasped green block upward and leftward toward the front of the wooden rack, moving the block to a position just above the table surface in front of the rack."}, {"label": "subtasks", "start_step": 2805, "end_step": 2819, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand lowers the green block onto the table surface in front of the rack, then opens fingers to release the block, separating the hand from the block."}, {"label": "subtasks", "start_step": 2820, "end_step": 2864, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty a short distance toward the green block placed on the table in front of the rack, approaching to grasp the block again."}, {"label": "subtasks", "start_step": 2865, "end_step": 3059, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reorient: Right hand holds the green block just above the table in front of the rack, rotates the wrist repeatedly to adjust the block's orientation by small angles, making fine adjustments to align the block's central hole."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: release: Right hand opens fingers to release the green block, allowing the block to rest on the table surface as the hand separates from the block."}, {"label": "subtasks", "start_step": 3075, "end_step": 3104, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: idle: Right hand remains empty next to the green block on the table, staying stationary without contacting any objects."}, {"label": "subtasks", "start_step": 3105, "end_step": 3179, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand moves slightly toward the green block, closes fingers around the block to establish a secure grip, adjusting finger contact points to stabilize the hold."}, {"label": "subtasks", "start_step": 3180, "end_step": 3194, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand grips the green block and lifts it upward, raising the block completely off the table surface."}, {"label": "subtasks", "start_step": 3195, "end_step": 3231, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted green block upward, moving the block to a position directly above the rightmost white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 3232, "end_step": 3299, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the green block's central hole with the top of the rightmost white cylinder, lowers the block to fit it onto the cylinder, adjusting position until the block sits stably on the cylinder."}], "episode_index": 11}
+{"source_uid": "3f1be2cffc6fdae5", "num_frames": 2630, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace without contacting any objects, staying stationary."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "1c54f4e5-76ae-44aa-8689-513b557eb97a"}, {"label": "valid", "start_step": 0, "end_step": 2594, "id": "2uX7cDMssmnLwLDYy8d9W"}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves toward the green hexagonal block positioned at the front-left of the wooden peg base, approaching the target block with an empty hand."}, {"label": "subtasks", "start_step": 98, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table, making small adjustments to finger and wrist positions to establish a stable grip on the block."}, {"label": "goal", "start_step": 201, "end_step": 370, "id": "59b32dd9-1d41-4488-a09e-2847b29739cf"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block vertically upward off the table surface and moves the block to the position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 240, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost purple peg and moves the block downward along the peg to fit onto the wooden assembly base."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the left purple rod of the wooden base, and releases the block after it rests stably on the wooden base."}, {"label": "goal", "start_step": 371, "end_step": 480, "id": "a24cb451-d34a-437f-ad57-26a438df4cf4"}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the front white hexagonal block on the black table surface, approaching the block without contact."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand makes contact with the target front white hexagonal block, fingers close and make small adjustments to form a stable grip on the block, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface, and moves it upward to the position directly above the purple peg on the small wooden base."}, {"label": "goal", "start_step": 481, "end_step": 655, "id": "51795f6c-9a13-47ef-a20c-11d98962000e"}, {"label": "subtasks", "start_step": 518, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand makes slight positional adjustments to align the held white hexagonal block with the purple peg, and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 645, "end_step": 741, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns it with the leftmost purple peg on the wooden assembly base, fits the nut securely onto the peg, and releases the nut with opened fingers."}, {"label": "goal", "start_step": 656, "end_step": 835, "id": "022838b7-807c-4c0c-889e-cc918fd4b2ce"}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward with open fingers toward the loose white hexagonal nut resting on the dark work surface."}, {"label": "subtasks", "start_step": 780, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal nut on the dark work surface, making small adjustments of the fingers and wrist to establish a stable grip on the nut."}, {"label": "goal", "start_step": 836, "end_step": 1045, "id": "76a1a41b-60fb-4803-8e2a-7b8c98469366"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical object off the black table surface and moves it upward toward the wooden block rack."}, {"label": "subtasks", "start_step": 908, "end_step": 981, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the hole of the white cylindrical object with the purple rod on the wooden rack, and moves the object downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white cylindrical object that is fitted onto the purple rod of the wooden rack without any observable movement."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut placed on the purple peg of the wooden assembly board."}, {"label": "goal", "start_step": 1046, "end_step": 1210, "id": "d6addeb9-0a80-493c-bf90-a9f83dcbbd79"}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward from the wooden assembly board area toward the front white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1221, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut, making small adjustments to finger positions to form a secure grip."}, {"label": "goal", "start_step": 1211, "end_step": 1335, "id": "bff7be4c-6876-4a1e-8c77-e56490e400d5"}, {"label": "subtasks", "start_step": 1222, "end_step": 1237, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand lifts the grasped white cylindrical object vertically upward until the object is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted white cylindrical object horizontally to position it directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1334, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the hollow bottom of the white cylindrical object with the purple peg, making small positional adjustments while lowering the object to fit it onto the peg."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: press_release: Right hand presses the white cylindrical block downward along the purple peg on the wooden base to seat it fully, and releases the block."}, {"label": "goal", "start_step": 1336, "end_step": 1420, "id": "964f9a95-f268-4356-9f9e-e029cfb008af"}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the left area of the table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making small adjustments to finger positions to establish a secure grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand holds the green hexagonal block with a central hole and lifts it upward from the black table surface until the block fully separates from the table."}, {"label": "goal", "start_step": 1421, "end_step": 1535, "id": "ae759500-76cd-44e4-93ef-ea2599b0ec04"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the purple rod on the wooden base, moving the block to a position directly above the target rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, making slight positional adjustments while lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the green block positioned on the wooden assembly base."}, {"label": "goal", "start_step": 1536, "end_step": 1660, "id": "9eea6e1d-bc63-4560-a4c5-615d2969b6aa"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand holds the white cylindrical block and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 1661, "end_step": 1745, "id": "d369ce63-624f-404e-8658-b52a8b220657"}, {"label": "subtasks", "start_step": 1672, "end_step": 1701, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted white cylindrical block upward and forward toward the wooden assembly base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1731, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod on the base and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1732, "end_step": 1739, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand releases the white cylindrical block on top of the stacked block assembly, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1746, "end_step": 1830, "id": "478863b9-d3f3-469e-aa58-cb746182d5c1"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty toward the white hollow hexagonal block adjacent to the wooden base on the table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hollow hexagonal block to form a stable grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand holds the white hollow cylinder resting on the black table surface, and lifts the cylinder upward until it is fully separated from the table."}, {"label": "goal", "start_step": 1831, "end_step": 2000, "id": "4769b6c2-b4a5-421b-a15c-d96b34fcd8cd"}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted white hollow cylinder, moving it upward and toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple rod, and moves the cylinder downward to fit onto the rod until it rests on the stacked block below."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the purple rod without any observable movement of the hand or the cylinder."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hollow cylinder on the purple rod, separating the hand from the cylinder surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: place_release: Right hand sets the white cylindrical block onto the wooden base along the purple rod, fingers opening to separate from the supported block."}, {"label": "goal", "start_step": 2001, "end_step": 2105, "id": "470378ce-67ad-4e66-a0a6-166dd20d8502"}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty in a downward-right direction across the dark table surface toward the small white hexagonal block."}, {"label": "subtasks", "start_step": 2055, "end_step": 2099, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand contacts the small white hexagonal block on the table, closing fingers and adjusting contact points to establish a grip on the block."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand lifts the white block it is holding upward until the block is fully separated from the dark table surface."}, {"label": "goal", "start_step": 2106, "end_step": 2225, "id": "fc16fca7-6c56-40c1-ad71-a4327c8b8c63"}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand transports the grasped white block upward and leftward to position it directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white block with the purple rod on the wooden base, moves the block downward to fit it onto the rod until it rests on the lower white block."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the white block, separating from the block fitted on the purple rod of the wooden base."}, {"label": "goal", "start_step": 2226, "end_step": 2315, "id": "c9e3eb81-a0ba-4b13-9252-66179f1fe64f"}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty diagonally downward toward the green square block on the dark gray table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2265, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand positions fingers around the green square block, closing fingers and making small adjustments to contact points to form a grip on the block."}, {"label": "goal", "start_step": 2316, "end_step": 2490, "id": "59457c6a-d7b0-45a4-ae44-4f2bd518bac5"}, {"label": "subtasks", "start_step": 2332, "end_step": 2377, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the green block completely off the dark work surface and moves it upward toward the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2378, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align it with the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: place: Right hand lowers the aligned green block into the empty slot until the block is fully supported by the wooden holder."}, {"label": "subtasks", "start_step": 2415, "end_step": 2504, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the green block positioned in the wooden holder slot without visible movement of the hand or block."}, {"label": "home", "start_step": 2595, "end_step": 2629, "id": "SY_OdVFq2lmod83srMyAU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace without contacting any objects, staying stationary."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves toward the green hexagonal block positioned at the front-left of the wooden peg base, approaching the target block with an empty hand."}, {"label": "subtasks", "start_step": 98, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table, making small adjustments to finger and wrist positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block vertically upward off the table surface and moves the block to the position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 240, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost purple peg and moves the block downward along the peg to fit onto the wooden assembly base."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the left purple rod of the wooden base, and releases the block after it rests stably on the wooden base."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the front white hexagonal block on the black table surface, approaching the block without contact."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand makes contact with the target front white hexagonal block, fingers close and make small adjustments to form a stable grip on the block, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface, and moves it upward to the position directly above the purple peg on the small wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand makes slight positional adjustments to align the held white hexagonal block with the purple peg, and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 645, "end_step": 741, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns it with the leftmost purple peg on the wooden assembly base, fits the nut securely onto the peg, and releases the nut with opened fingers."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward with open fingers toward the loose white hexagonal nut resting on the dark work surface."}, {"label": "subtasks", "start_step": 780, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal nut on the dark work surface, making small adjustments of the fingers and wrist to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical object off the black table surface and moves it upward toward the wooden block rack."}, {"label": "subtasks", "start_step": 908, "end_step": 981, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the hole of the white cylindrical object with the purple rod on the wooden rack, and moves the object downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white cylindrical object that is fitted onto the purple rod of the wooden rack without any observable movement."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut placed on the purple peg of the wooden assembly board."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward from the wooden assembly board area toward the front white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1221, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut, making small adjustments to finger positions to form a secure grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1237, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand lifts the grasped white cylindrical object vertically upward until the object is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted white cylindrical object horizontally to position it directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1334, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the hollow bottom of the white cylindrical object with the purple peg, making small positional adjustments while lowering the object to fit it onto the peg."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: press_release: Right hand presses the white cylindrical block downward along the purple peg on the wooden base to seat it fully, and releases the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the left area of the table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making small adjustments to finger positions to establish a secure grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand holds the green hexagonal block with a central hole and lifts it upward from the black table surface until the block fully separates from the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the purple rod on the wooden base, moving the block to a position directly above the target rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, making slight positional adjustments while lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the green block positioned on the wooden assembly base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand holds the white cylindrical block and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1701, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted white cylindrical block upward and forward toward the wooden assembly base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1731, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod on the base and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1732, "end_step": 1739, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand releases the white cylindrical block on top of the stacked block assembly, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty toward the white hollow hexagonal block adjacent to the wooden base on the table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hollow hexagonal block to form a stable grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand holds the white hollow cylinder resting on the black table surface, and lifts the cylinder upward until it is fully separated from the table."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted white hollow cylinder, moving it upward and toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple rod, and moves the cylinder downward to fit onto the rod until it rests on the stacked block below."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the purple rod without any observable movement of the hand or the cylinder."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hollow cylinder on the purple rod, separating the hand from the cylinder surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: place_release: Right hand sets the white cylindrical block onto the wooden base along the purple rod, fingers opening to separate from the supported block."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty in a downward-right direction across the dark table surface toward the small white hexagonal block."}, {"label": "subtasks", "start_step": 2055, "end_step": 2099, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand contacts the small white hexagonal block on the table, closing fingers and adjusting contact points to establish a grip on the block."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand lifts the white block it is holding upward until the block is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand transports the grasped white block upward and leftward to position it directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white block with the purple rod on the wooden base, moves the block downward to fit it onto the rod until it rests on the lower white block."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the white block, separating from the block fitted on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty diagonally downward toward the green square block on the dark gray table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2265, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand positions fingers around the green square block, closing fingers and making small adjustments to contact points to form a grip on the block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2377, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the green block completely off the dark work surface and moves it upward toward the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2378, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align it with the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: place: Right hand lowers the aligned green block into the empty slot until the block is fully supported by the wooden holder."}, {"label": "subtasks", "start_step": 2415, "end_step": 2504, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the green block positioned in the wooden holder slot without visible movement of the hand or block."}], "episode_index": 12}
+{"source_uid": "e4282bc5d9b1be65", "num_frames": 3052, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the purple rod of the central wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 215, "id": "515c6612-5e72-45dc-b678-35bb0bbcb771"}, {"label": "valid", "start_step": 0, "end_step": 3019, "id": "Ir0syEdsXm57H1maxmebL"}, {"label": "subtasks", "start_step": 82, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers and adjusts to grasp the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block away from the purple rod and carries it moving upwards."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the wooden base with purple pegs on the black table."}, {"label": "goal", "start_step": 216, "end_step": 330, "id": "7d3f39e7-fe14-4dc6-9900-8a64d306de48"}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the wooden base with purple pegs off the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the wooden base upward to the position above the aligned white hollow blocks."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the wooden base by inserting the purple pegs into the corresponding white hollow blocks."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 331, "end_step": 460, "id": "2ba91742-c830-4ba3-8c50-aeb03ea2f301"}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 382, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 461, "end_step": 640, "id": "cd406a91-5ce9-4162-ad67-74e511a04758"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 562, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 641, "end_step": 770, "id": "404b3ab8-0485-43b3-a2bb-826e9f62578b"}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 771, "end_step": 890, "id": "7f0cf69d-e9c3-409e-9cdd-d72a2a71859b"}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 891, "end_step": 990, "id": "76b033af-4c34-4989-9de3-f451db710e10"}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 945, "end_step": 1011, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 991, "end_step": 1115, "id": "0ca5f2e4-03ac-430b-9c22-c5af9273d6b7"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly upward away from the assembled block and peg."}, {"label": "goal", "start_step": 1116, "end_step": 1205, "id": "2834c8e7-939c-4ead-8f36-93d74b1620dd"}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cubic block on the table to adjust and establish stable grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upwards away from the table surface."}, {"label": "goal", "start_step": 1206, "end_step": 1540, "id": "ce0226ee-5edc-4555-92d8-62b9f0c7dc89"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the top of the target peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the peg to assemble it in position."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the vertical peg on the wooden base."}, {"label": "goal", "start_step": 1541, "end_step": 1675, "id": "1aefdeee-c67b-48c2-8810-86e5f63b69cc"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base assembly area."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1676, "end_step": 1875, "id": "80985d43-19c1-45f3-ae9f-6a4cc37af9e9"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple post on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1748, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple post until it fits onto the green block below."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the white cylindrical block, fingers opening gradually."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical object on the table next to the wooden block rack."}, {"label": "goal", "start_step": 1876, "end_step": 1985, "id": "3e74c91c-f2e5-4a0b-b12f-0141e21ceff7"}, {"label": "subtasks", "start_step": 1935, "end_step": 2001, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white cylindrical object on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 1986, "end_step": 2110, "id": "b4d441e0-0311-4ded-8f27-afb9d41346c9"}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it above the empty slot of the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2099, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object into the empty slot on the right side of the wooden rack."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden block rack towards the lower right direction."}, {"label": "goal", "start_step": 2111, "end_step": 2240, "id": "3003c6ad-f6cf-4a4e-97ac-3de02927a7e3"}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white block on the table, with fingers adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 2235, "end_step": 2279, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the empty slot on the front right of the wooden rack."}, {"label": "goal", "start_step": 2241, "end_step": 2375, "id": "be50ef8c-63c5-433d-b87a-b981ec5827d0"}, {"label": "subtasks", "start_step": 2280, "end_step": 2369, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block into the empty slot on the front right of the wooden rack."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object with purple rod placed on the wooden tray."}, {"label": "goal", "start_step": 2376, "end_step": 2495, "id": "4d5f962c-9976-4dfd-a7db-01649e84c885"}, {"label": "subtasks", "start_step": 2392, "end_step": 2421, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2481, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2482, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without any observable movement."}, {"label": "subtasks", "start_step": 2490, "end_step": 2587, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block placed on the dark table surface."}, {"label": "goal", "start_step": 2496, "end_step": 2985, "id": "abcef55e-e7ac-44ae-822c-444f10a85c2c"}, {"label": "subtasks", "start_step": 2588, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2984, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle and presses it down to complete the assembly."}, {"label": "subtasks", "start_step": 2985, "end_step": 2999, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block which is now properly fitted onto the white bottle."}, {"label": "home", "start_step": 3020, "end_step": 3051, "id": "bThJ5Lyp--12L3VCq5X-Z"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the purple rod of the central wooden rack."}, {"label": "subtasks", "start_step": 82, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers and adjusts to grasp the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block away from the purple rod and carries it moving upwards."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the wooden base with purple pegs on the black table."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the wooden base with purple pegs off the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the wooden base upward to the position above the aligned white hollow blocks."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the wooden base by inserting the purple pegs into the corresponding white hollow blocks."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 382, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 562, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 945, "end_step": 1011, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly upward away from the assembled block and peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cubic block on the table to adjust and establish stable grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upwards away from the table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the top of the target peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the peg to assemble it in position."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base assembly area."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple post on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1748, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple post until it fits onto the green block below."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the white cylindrical block, fingers opening gradually."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical object on the table next to the wooden block rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2001, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white cylindrical object on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it above the empty slot of the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2099, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object into the empty slot on the right side of the wooden rack."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden block rack towards the lower right direction."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white block on the table, with fingers adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 2235, "end_step": 2279, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the empty slot on the front right of the wooden rack."}, {"label": "subtasks", "start_step": 2280, "end_step": 2369, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block into the empty slot on the front right of the wooden rack."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object with purple rod placed on the wooden tray."}, {"label": "subtasks", "start_step": 2392, "end_step": 2421, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2481, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2482, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without any observable movement."}, {"label": "subtasks", "start_step": 2490, "end_step": 2587, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2588, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2984, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle and presses it down to complete the assembly."}, {"label": "subtasks", "start_step": 2985, "end_step": 2999, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block which is now properly fitted onto the white bottle."}], "episode_index": 13}
+{"source_uid": "ebf73cad50d11221", "num_frames": 3708, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the right side of the workspace without moving."}, {"label": "goal", "start_step": 0, "end_step": 205, "id": "ab6ded85-9bff-4321-9021-07b9704cb850"}, {"label": "valid", "start_step": 0, "end_step": 3676, "id": "EWBIhJvgW-J3MHQEh26J6"}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves down and left toward the green hexagonal block on the table adjacent to the wooden pegboard, with fingers held open."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions and wrist angle to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it upward off the black table surface, and moves it directly above the purple peg on the light wooden base."}, {"label": "goal", "start_step": 206, "end_step": 305, "id": "5fb9a407-8f81-4896-af19-f577e6e864d6"}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green block with the purple peg, lowers it to fit onto the peg, and makes slight finger adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green block stably seated on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple peg until it rests on the wooden board, fingers opening to separate from the block."}, {"label": "goal", "start_step": 306, "end_step": 420, "id": "88e363f1-887d-4f15-98b2-51e16ac01f20"}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal block placed on the table surface in front of the wooden board."}, {"label": "subtasks", "start_step": 368, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions and closing fingers to form a grip on the block."}, {"label": "goal", "start_step": 421, "end_step": 605, "id": "7c7a5268-fa42-44c5-8401-4e970746f4bd"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to the position above the purple peg on the light wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg, resting on the green block beneath."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple peg without moving, with the nut supported by the green block below."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the white hexagonal nut, separating from the nut surface by the end of the segment."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block mounted on the left purple peg of the wooden base without moving."}, {"label": "goal", "start_step": 606, "end_step": 745, "id": "783044dd-a808-4fdf-b3ba-75853a0069a4"}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens fingers to release the previously held white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 638, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward and forward toward the white hexagonal block resting on the dark table in the front-middle area."}, {"label": "subtasks", "start_step": 682, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts fingers around the front-middle white hexagonal block, closing fingers to establish a grip on the block."}, {"label": "goal", "start_step": 746, "end_step": 1190, "id": "6e2ea45e-c2dd-41e8-a09f-12bc8af313fe"}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is completely separated from the dark table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the grasped white hexagonal nut toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 802, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple rod on the wooden base, moves the nut downward to fit it onto the rod until it rests on the lower green-white assembly."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut on the purple rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the purple peg on the wooden base, nests the block onto the peg and opens fingers to release the assembled block."}, {"label": "goal", "start_step": 1191, "end_step": 1395, "id": "1f67fda1-1ec8-47ae-bfa7-c2bd8bfdd697"}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward from the upper assembly area toward the white hexagonal block near the front edge of the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the target white hexagonal block on the table, closes fingers and adjusts contact points to form a grasp on the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward off the supporting surface near the wooden base."}, {"label": "goal", "start_step": 1396, "end_step": 1695, "id": "15a59109-4b3a-443d-aa42-9f4488924543"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the white hexagonal block upward to position it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post, fits the block onto the post, and makes slight positional adjustments during the assembly process."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand holds the white block, lowers it onto the wooden assembly base until the block is supported, and opens fingers to release the block."}, {"label": "goal", "start_step": 1696, "end_step": 1795, "id": "f5d1baa8-5de1-490f-a26c-373bf36cf8ef"}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward with empty hand toward the green block placed on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green block on the table to form a grasp."}, {"label": "goal", "start_step": 1796, "end_step": 1955, "id": "0e1bbf34-fc8f-4799-a72b-aa393bc83952"}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to a position above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1927, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central opening of the green hexagonal block with the purple rod and lowers the block to engage it with the rod."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block positioned on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens fingers around the green cylindrical block on the purple rod of the wooden block assembly, releasing grip on the block."}, {"label": "goal", "start_step": 1956, "end_step": 2080, "id": "5b514a76-9cd3-4b1c-8fdb-210e25e5d8a2"}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downwards from the wooden block assembly toward the white hexagonal nut resting on the dark table surface, approaching the target."}, {"label": "subtasks", "start_step": 2040, "end_step": 2091, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the dark table surface to form a grip on the object."}, {"label": "goal", "start_step": 2081, "end_step": 2200, "id": "c1170159-cfc4-48a5-ad25-530c9c00f22a"}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully lifted off the black table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the white hexagonal nut through the air toward the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 2130, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod."}, {"label": "goal", "start_step": 2201, "end_step": 2415, "id": "78dabee0-edcc-4d76-b148-df4bcdb0b48b"}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the assembled white hexagonal block, fully separating the hand from the block."}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward and to the right, approaching the white hexagonal block placed adjacent to the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2407, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal block on the table, adjusting contact points to form a stable grip while the block rests on the table surface."}, {"label": "subtasks", "start_step": 2408, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting the block completely off the table surface by the end of the segment."}, {"label": "subtasks", "start_step": 2415, "end_step": 2489, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport_place: Right hand holds the white cylindrical block with a green base, moves it upward and leftward from the right area above the dark table surface to the empty peg of the light wooden block rack, lowers the block to seat it firmly on the peg."}, {"label": "goal", "start_step": 2416, "end_step": 2525, "id": "4f6fdf1e-6ae9-42e6-af92-aba2ffeee174"}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the seated white cylindrical block with a green base on the wooden rack peg without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2520, "end_step": 2557, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand moves the grasped white cylindrical block downward along the purple rod to rest on the wooden tray, opening fingers to release contact with the block."}, {"label": "goal", "start_step": 2526, "end_step": 2650, "id": "20012a1d-4aa5-44d8-a6bb-1a9838bb2439"}, {"label": "subtasks", "start_step": 2558, "end_step": 2594, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves diagonally down and right toward the white hexagonal block on the dark table surface, staying empty throughout the movement."}, {"label": "subtasks", "start_step": 2595, "end_step": 2661, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the dark table surface, closing fingers and making slight adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 2651, "end_step": 2785, "id": "992b9aa3-da26-4238-823a-28f7ce58e4b8"}, {"label": "subtasks", "start_step": 2662, "end_step": 2699, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block completely off the dark table surface, then moves it upward and leftward toward the empty position on the wooden block tray."}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the held white cylindrical block with the empty slot on the wooden tray, and lowers it to fit into place with the adjacent stacked blocks."}, {"label": "subtasks", "start_step": 2738, "end_step": 2774, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white cylindrical block steady in its assembled position on the wooden tray without any observable movement."}, {"label": "subtasks", "start_step": 2775, "end_step": 2849, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty diagonally downward toward the green cube resting on the black table surface."}, {"label": "goal", "start_step": 2786, "end_step": 2905, "id": "bd53d533-a655-4f35-871f-8e41ca4ff794"}, {"label": "subtasks", "start_step": 2850, "end_step": 2939, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the green cube, closes fingers and makes slight positional adjustments to establish a grip on the cube."}, {"label": "goal", "start_step": 2906, "end_step": 3660, "id": "57e5c996-42d9-4a17-af4d-ecf86fbf208d"}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2955, "end_step": 2991, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand moves the lifted green block upward and leftward to the position directly above the purple cylindrical post on the white and green block tray."}, {"label": "subtasks", "start_step": 2992, "end_step": 3644, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand makes fine adjustments to the position and orientation of the green block to align its central hole with the purple post, gradually lowering the block to fit onto the post."}, {"label": "subtasks", "start_step": 3645, "end_step": 3659, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand lowers the green block fully onto the supporting white block on the purple post, then opens its fingers to release contact with the green block."}, {"label": "subtasks", "start_step": 3660, "end_step": 3674, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand moves empty in an upward-right direction away from the assembled green block on the tray."}, {"label": "home", "start_step": 3677, "end_step": 3707, "id": "eTTL7plOCenPzkB_f8j1S"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the right side of the workspace without moving."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves down and left toward the green hexagonal block on the table adjacent to the wooden pegboard, with fingers held open."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions and wrist angle to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it upward off the black table surface, and moves it directly above the purple peg on the light wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green block with the purple peg, lowers it to fit onto the peg, and makes slight finger adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green block stably seated on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple peg until it rests on the wooden board, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal block placed on the table surface in front of the wooden board."}, {"label": "subtasks", "start_step": 368, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions and closing fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to the position above the purple peg on the light wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg, resting on the green block beneath."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple peg without moving, with the nut supported by the green block below."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the white hexagonal nut, separating from the nut surface by the end of the segment."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block mounted on the left purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens fingers to release the previously held white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 638, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward and forward toward the white hexagonal block resting on the dark table in the front-middle area."}, {"label": "subtasks", "start_step": 682, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts fingers around the front-middle white hexagonal block, closing fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is completely separated from the dark table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the grasped white hexagonal nut toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 802, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple rod on the wooden base, moves the nut downward to fit it onto the rod until it rests on the lower green-white assembly."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut on the purple rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the purple peg on the wooden base, nests the block onto the peg and opens fingers to release the assembled block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward from the upper assembly area toward the white hexagonal block near the front edge of the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the target white hexagonal block on the table, closes fingers and adjusts contact points to form a grasp on the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward off the supporting surface near the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the white hexagonal block upward to position it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post, fits the block onto the post, and makes slight positional adjustments during the assembly process."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand holds the white block, lowers it onto the wooden assembly base until the block is supported, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward with empty hand toward the green block placed on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green block on the table to form a grasp."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to a position above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1927, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central opening of the green hexagonal block with the purple rod and lowers the block to engage it with the rod."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block positioned on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens fingers around the green cylindrical block on the purple rod of the wooden block assembly, releasing grip on the block."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downwards from the wooden block assembly toward the white hexagonal nut resting on the dark table surface, approaching the target."}, {"label": "subtasks", "start_step": 2040, "end_step": 2091, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the dark table surface to form a grip on the object."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully lifted off the black table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the white hexagonal nut through the air toward the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 2130, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the assembled white hexagonal block, fully separating the hand from the block."}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward and to the right, approaching the white hexagonal block placed adjacent to the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2407, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal block on the table, adjusting contact points to form a stable grip while the block rests on the table surface."}, {"label": "subtasks", "start_step": 2408, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting the block completely off the table surface by the end of the segment."}, {"label": "subtasks", "start_step": 2415, "end_step": 2489, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport_place: Right hand holds the white cylindrical block with a green base, moves it upward and leftward from the right area above the dark table surface to the empty peg of the light wooden block rack, lowers the block to seat it firmly on the peg."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the seated white cylindrical block with a green base on the wooden rack peg without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2520, "end_step": 2557, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand moves the grasped white cylindrical block downward along the purple rod to rest on the wooden tray, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 2558, "end_step": 2594, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves diagonally down and right toward the white hexagonal block on the dark table surface, staying empty throughout the movement."}, {"label": "subtasks", "start_step": 2595, "end_step": 2661, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the dark table surface, closing fingers and making slight adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 2662, "end_step": 2699, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block completely off the dark table surface, then moves it upward and leftward toward the empty position on the wooden block tray."}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the held white cylindrical block with the empty slot on the wooden tray, and lowers it to fit into place with the adjacent stacked blocks."}, {"label": "subtasks", "start_step": 2738, "end_step": 2774, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white cylindrical block steady in its assembled position on the wooden tray without any observable movement."}, {"label": "subtasks", "start_step": 2775, "end_step": 2849, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty diagonally downward toward the green cube resting on the black table surface."}, {"label": "subtasks", "start_step": 2850, "end_step": 2939, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the green cube, closes fingers and makes slight positional adjustments to establish a grip on the cube."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2955, "end_step": 2991, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand moves the lifted green block upward and leftward to the position directly above the purple cylindrical post on the white and green block tray."}, {"label": "subtasks", "start_step": 2992, "end_step": 3644, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand makes fine adjustments to the position and orientation of the green block to align its central hole with the purple post, gradually lowering the block to fit onto the post."}, {"label": "subtasks", "start_step": 3645, "end_step": 3659, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand lowers the green block fully onto the supporting white block on the purple post, then opens its fingers to release contact with the green block."}, {"label": "subtasks", "start_step": 3660, "end_step": 3674, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand moves empty in an upward-right direction away from the assembled green block on the tray."}], "episode_index": 14}
+{"source_uid": "1bb3d3145926794b", "num_frames": 2391, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_hand: Left hand moves upward with empty hand from the lower left area of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block near the wooden board, with empty hand."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "a0b748fa-0703-4406-ae18-e3ed2e1ebc63"}, {"label": "valid", "start_step": 0, "end_step": 2358, "id": "JetyHpWRwX093b4BNr8g0"}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block near the wooden board, with empty hand."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the wooden board, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 171, "end_step": 310, "id": "10338559-24d2-4651-b33a-5ee7d74ccc89"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward and rightward to the position above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 202, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand moves the green hexagonal block downward and aligns it with the target purple peg, fitting the block onto the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: place_release: Right hand places the green block onto the base of the left purple peg and releases the block."}, {"label": "goal", "start_step": 311, "end_step": 470, "id": "f3766c55-3894-448c-a9ad-b0b5eb38fe59"}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the middle-left area of the black table."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the middle-left of the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "goal", "start_step": 471, "end_step": 600, "id": "1bbac1da-8308-4b2e-9ab8-e1f5898c70ae"}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the black table surface and moves it toward the purple peg on the green base."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white hexagonal object onto the purple peg and releases its grip."}, {"label": "subtasks", "start_step": 518, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: idle: Right hand remains empty above the assembly board without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the green block on a peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 601, "end_step": 715, "id": "d66fc47b-cb57-4127-af02-0ec3ccdd75b7"}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the left side of the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the black table surface, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "goal", "start_step": 716, "end_step": 880, "id": "19931717-7fc1-4f03-81fc-3a712c3249d0"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it to the position above the front-left purple peg on the green base."}, {"label": "subtasks", "start_step": 742, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand aligns and fits the white hexagonal part onto the front-left purple peg of the green base, and releases the part with opening fingers."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 881, "end_step": 980, "id": "d9b0b2ed-1b3b-4cac-8534-7527e5c0e9c2"}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden base with fingers closing around it."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the rightmost purple rod on the wooden base."}, {"label": "goal", "start_step": 981, "end_step": 1120, "id": "7631502d-b6bf-4062-827e-d8183ce1520c"}, {"label": "subtasks", "start_step": 1005, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by aligning the block hole with the rod and lowering the block down."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple rod without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white block on top of the purple rod of the wooden base, with fingers opening and moving upward away from the rod."}, {"label": "goal", "start_step": 1121, "end_step": 1220, "id": "6056a347-8e4e-4a56-add1-b8b2a6b73065"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the left side of the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1221, "end_step": 1330, "id": "1d5a5b11-b711-40bd-a566-d35b9c7aee31"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: place: Right hand places the white hexagonal block onto the green block on the wooden base."}, {"label": "goal", "start_step": 1331, "end_step": 1455, "id": "5295f6d4-dbd9-4e84-90d8-fcc2f3f5db27"}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white hexagonal block on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the green support block on the table and transports it upward and leftward to the position above the top peg of the wooden base block set."}, {"label": "goal", "start_step": 1456, "end_step": 1585, "id": "130a7abb-9698-4cf8-933f-fe1677eee488"}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand moves the white cylindrical block downward to mate it onto the top peg of the wooden base block set."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white cylindrical block on the top peg of the wooden base block set without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white ring on the purple rod of the wooden base, with fingers opening and moving upward away from the ring."}, {"label": "goal", "start_step": 1586, "end_step": 1675, "id": "9fd3afb6-37ba-4ff5-a71e-c2f077ab7bbf"}, {"label": "subtasks", "start_step": 1605, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves down and right toward the upper white hexagonal part on the black table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal part on the black table surface, with fingers closing around the part."}, {"label": "goal", "start_step": 1676, "end_step": 1845, "id": "cdb97d96-963c-4a06-be7b-ecebab6f1348"}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward away from the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the white hexagonal part leftward and upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1844, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal part with the purple rod and fits the part down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden board before releasing it."}, {"label": "goal", "start_step": 1846, "end_step": 1955, "id": "150dc5a9-0f19-4f70-9057-96f6d4309542"}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1956, "end_step": 2075, "id": "7d3717c4-24e4-4545-ac89-162b50d799aa"}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and transports it toward the wooden tray with stacked blocks."}, {"label": "subtasks", "start_step": 2002, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple vertical rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the purple rod on the top of the rightmost white cylinder on the wooden board, with fingers opening and separating from the rod."}, {"label": "goal", "start_step": 2076, "end_step": 2175, "id": "49b4864f-9312-47dd-abfa-0db451e9b1ee"}, {"label": "subtasks", "start_step": 2092, "end_step": 2121, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves down and right towards the green cube on the dark table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers adjusting their position to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the green block upward from the dark table surface."}, {"label": "goal", "start_step": 2176, "end_step": 2320, "id": "0c2a00af-fa9a-4ddc-bf91-97bc00acf56a"}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the green block leftward and upward toward the purple peg on the white cylinder set on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2271, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the green block onto the purple peg, lowering it to fit the block's hole over the peg until the block rests on the white cylinder below."}, {"label": "subtasks", "start_step": 2272, "end_step": 2324, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green block on top of the white cylinder over the purple peg without moving."}, {"label": "home", "start_step": 2359, "end_step": 2390, "id": "j9R48H2P14ZsrHO_Tb8DF"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_hand: Left hand moves upward with empty hand from the lower left area of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block near the wooden board, with empty hand."}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block near the wooden board, with empty hand."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the wooden board, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward and rightward to the position above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 202, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand moves the green hexagonal block downward and aligns it with the target purple peg, fitting the block onto the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: place_release: Right hand places the green block onto the base of the left purple peg and releases the block."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the middle-left area of the black table."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the middle-left of the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the black table surface and moves it toward the purple peg on the green base."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white hexagonal object onto the purple peg and releases its grip."}, {"label": "subtasks", "start_step": 518, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: idle: Right hand remains empty above the assembly board without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the green block on a peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the left side of the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the black table surface, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it to the position above the front-left purple peg on the green base."}, {"label": "subtasks", "start_step": 742, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand aligns and fits the white hexagonal part onto the front-left purple peg of the green base, and releases the part with opening fingers."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden base with fingers closing around it."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by aligning the block hole with the rod and lowering the block down."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple rod without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white block on top of the purple rod of the wooden base, with fingers opening and moving upward away from the rod."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the left side of the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: place: Right hand places the white hexagonal block onto the green block on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white hexagonal block on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the green support block on the table and transports it upward and leftward to the position above the top peg of the wooden base block set."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand moves the white cylindrical block downward to mate it onto the top peg of the wooden base block set."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white cylindrical block on the top peg of the wooden base block set without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white ring on the purple rod of the wooden base, with fingers opening and moving upward away from the ring."}, {"label": "subtasks", "start_step": 1605, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves down and right toward the upper white hexagonal part on the black table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal part on the black table surface, with fingers closing around the part."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward away from the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the white hexagonal part leftward and upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1844, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal part with the purple rod and fits the part down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden board before releasing it."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and transports it toward the wooden tray with stacked blocks."}, {"label": "subtasks", "start_step": 2002, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple vertical rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the purple rod on the top of the rightmost white cylinder on the wooden board, with fingers opening and separating from the rod."}, {"label": "subtasks", "start_step": 2092, "end_step": 2121, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves down and right towards the green cube on the dark table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers adjusting their position to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the green block upward from the dark table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the green block leftward and upward toward the purple peg on the white cylinder set on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2271, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the green block onto the purple peg, lowering it to fit the block's hole over the peg until the block rests on the white cylinder below."}, {"label": "subtasks", "start_step": 2272, "end_step": 2324, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green block on top of the white cylinder over the purple peg without moving."}], "episode_index": 15}
+{"source_uid": "7a18b7c7a548c181", "num_frames": 2590, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block near the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "e2c47342-820a-46bd-b965-dfaa8b68b94d"}, {"label": "valid", "start_step": 0, "end_step": 2552, "id": "AY7OLrs5A42gGY0FlMP4o"}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 181, "end_step": 305, "id": "8517debc-37cb-4b39-9c07-32fd4c67b7e7"}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fully seat it on the base."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 306, "end_step": 440, "id": "e5ab084b-b4ee-49f2-9e08-acc3794177dd"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white block placed on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the black tabletop, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white block upward away from the black tabletop."}, {"label": "goal", "start_step": 441, "end_step": 815, "id": "8ab58010-b3bf-49f9-955b-ec50e861d015"}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 816, "end_step": 970, "id": "03019578-56c3-4d4b-a54a-7a13c4975cd2"}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form stable grasp on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black tabletop."}, {"label": "subtasks", "start_step": 960, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the upper part of the purple rod on the wooden base."}, {"label": "goal", "start_step": 971, "end_step": 1135, "id": "9a2cb2af-f8bf-42d8-a78c-1b74ebd2e001"}, {"label": "subtasks", "start_step": 998, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base to the right side."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the table in front of the wooden base."}, {"label": "goal", "start_step": 1136, "end_step": 1235, "id": "fc522057-40d3-4959-b75c-46205beb2d80"}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table, with slight adjustment of hand position to stabilize the grasp."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object from the wooden base plate."}, {"label": "goal", "start_step": 1236, "end_step": 1330, "id": "0975fe67-24f1-4c46-9677-7a0185f2fae6"}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple peg by aligning and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the grip on the ring."}, {"label": "goal", "start_step": 1331, "end_step": 1470, "id": "b992761f-8ba6-4cd0-a191-23deee11edb7"}, {"label": "subtasks", "start_step": 1342, "end_step": 1387, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base towards the green cube on the black table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green cube on the table, fingers close and adjust to form a stable grasp on the cube."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cube from the black table surface."}, {"label": "goal", "start_step": 1471, "end_step": 1560, "id": "1229090c-58de-4f90-b97b-69c882050357"}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cube towards the wooden peg board."}, {"label": "subtasks", "start_step": 1500, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the target peg on the wooden board."}, {"label": "goal", "start_step": 1561, "end_step": 1685, "id": "7aba168a-0d14-4bf0-b51d-228b0725a983"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white ring placed on the black table."}, {"label": "subtasks", "start_step": 1628, "end_step": 1701, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white ring on the black table surface."}, {"label": "goal", "start_step": 1686, "end_step": 1820, "id": "31c8b080-7dae-45ae-ab7b-7d07522272d7"}, {"label": "subtasks", "start_step": 1702, "end_step": 1731, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1814, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the peg on the wooden base and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed on the table beside the wooden base."}, {"label": "goal", "start_step": 1821, "end_step": 1975, "id": "b30b59a3-9d3b-4216-9fb4-7c38171d7d65"}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white cylindrical block to form a stable grasp, with minor adjustments to the grip."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylinder on the table."}, {"label": "goal", "start_step": 1976, "end_step": 2070, "id": "ae7c0a7f-3e05-46cd-8c97-c6b270d9fd94"}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder fitted on the purple rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the right side of the table."}, {"label": "goal", "start_step": 2071, "end_step": 2160, "id": "cad143c7-f32b-4fdf-a6cf-982398be97f7"}, {"label": "subtasks", "start_step": 2115, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table surface."}, {"label": "goal", "start_step": 2161, "end_step": 2295, "id": "663d2197-77d7-4745-be48-30478369221e"}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the wooden base with stacked cylinders."}, {"label": "subtasks", "start_step": 2212, "end_step": 2287, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_mate: Right hand places the white cylindrical object onto the purple peg on the wooden base and mates it onto the peg."}, {"label": "subtasks", "start_step": 2288, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object and separates from it."}, {"label": "subtasks", "start_step": 2295, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the area near the white cylindrical bottle set toward the green cube on the table."}, {"label": "goal", "start_step": 2296, "end_step": 2395, "id": "88208460-82cf-430d-bd4e-686c78a87ead"}, {"label": "subtasks", "start_step": 2348, "end_step": 2407, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cube on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 2396, "end_step": 2520, "id": "23f87f61-3681-4870-b3fc-03fd71939f75"}, {"label": "subtasks", "start_step": 2408, "end_step": 2437, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up away from the black table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2467, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the green block onto the top of the target white pillar."}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block after it is stably placed on the white pillar."}, {"label": "home", "start_step": 2553, "end_step": 2589, "id": "E9d9GdkNvTlNSX7dbROAw"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block near the wooden base."}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fully seat it on the base."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white block placed on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the black tabletop, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white block upward away from the black tabletop."}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form stable grasp on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black tabletop."}, {"label": "subtasks", "start_step": 960, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the upper part of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base to the right side."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table, with slight adjustment of hand position to stabilize the grasp."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object from the wooden base plate."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple peg by aligning and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the grip on the ring."}, {"label": "subtasks", "start_step": 1342, "end_step": 1387, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base towards the green cube on the black table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green cube on the table, fingers close and adjust to form a stable grasp on the cube."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cube from the black table surface."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cube towards the wooden peg board."}, {"label": "subtasks", "start_step": 1500, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white ring placed on the black table."}, {"label": "subtasks", "start_step": 1628, "end_step": 1701, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1731, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1814, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the peg on the wooden base and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white cylindrical block to form a stable grasp, with minor adjustments to the grip."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylinder on the table."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder fitted on the purple rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the wooden base with stacked cylinders."}, {"label": "subtasks", "start_step": 2212, "end_step": 2287, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_mate: Right hand places the white cylindrical object onto the purple peg on the wooden base and mates it onto the peg."}, {"label": "subtasks", "start_step": 2288, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object and separates from it."}, {"label": "subtasks", "start_step": 2295, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the area near the white cylindrical bottle set toward the green cube on the table."}, {"label": "subtasks", "start_step": 2348, "end_step": 2407, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cube on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2408, "end_step": 2437, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up away from the black table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2467, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the green block onto the top of the target white pillar."}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block after it is stably placed on the white pillar."}], "episode_index": 16}
+{"source_uid": "393f438a182215b6", "num_frames": 3506, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves from its initial right-side position toward the green hexagonal nut located at the front-left of the wooden assembly board, adjusting finger posture slightly during the empty-handed approach, with no contact made to the target nut."}, {"label": "goal", "start_step": 0, "end_step": 230, "id": "1a662552-b474-4f3e-a9a2-adf9a67eeb0a"}, {"label": "valid", "start_step": 0, "end_step": 3470, "id": "jxeXJmvZQyffnUKzoZ-dQ"}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut on the table surface, making small wrist and finger adjustments to establish a stable grip, while the nut remains supported by the table."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the gripped green hexagonal nut steadily on the table surface at the front-left of the wooden assembly board, with no observable movement of the hand, fingers, wrist or the nut."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand moves upward to lift the gripped green hexagonal nut, with the nut still remaining in contact with the table surface at the end of the segment."}, {"label": "goal", "start_step": 231, "end_step": 410, "id": "593a997a-7593-4480-afa5-9b761f33748d"}, {"label": "subtasks", "start_step": 240, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts fingers around the green hexagonal nut on the black table surface to form a stable grip, with the nut remaining on the table."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal nut completely off the table surface and moves it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and lowers the nut to fit it onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 322, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal nut properly seated on the purple peg, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place: Right hand lowers the held green hexagonal block down along the purple peg until it rests on the wooden pegboard base."}, {"label": "goal", "start_step": 411, "end_step": 550, "id": "7be7a825-fbc4-4748-8e9a-2835ff3298ba"}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block seated on the purple peg."}, {"label": "subtasks", "start_step": 442, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward while empty towards the white hexagonal block positioned closest to the pegboard on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the nearby white hexagonal block on the black table surface, adjusting slightly to secure a stable grip."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts its grip around the white hexagonal nut resting on the black table surface, with fingers closed to secure the nut."}, {"label": "goal", "start_step": 551, "end_step": 715, "id": "20f3171a-b051-4dc8-a563-460d60127840"}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to a position directly above the purple peg on the wooden block."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and moves the nut downward to fit onto the peg, with small positional adjustments to maintain alignment."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand positions the white cylindrical sleeve onto the leftmost purple peg above the green block, opening fingers to release the sleeve."}, {"label": "goal", "start_step": 716, "end_step": 860, "id": "2b8c72e3-e593-45d9-ab6a-398a490b4288"}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward to approach the leftmost white hexagonal nut on the black work surface."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward away from the black work surface."}, {"label": "goal", "start_step": 861, "end_step": 1015, "id": "cc52cc4d-1bfa-4b36-9e8e-5741212d294f"}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand holds the lifted white hexagonal block and moves it upward and backward to position it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple peg, lowering the block to fit over the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod of the wooden assembly rack."}, {"label": "goal", "start_step": 1016, "end_step": 1140, "id": "5dbf43bc-d9b1-4d48-8ea0-bebacde0ed58"}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward from the wooden rack area toward the white hexagonal block resting on the table in front of the rack, adjacent to a green hexagonal block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger and wrist positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal block on the black tabletop and lifts the block completely off the table surface."}, {"label": "goal", "start_step": 1141, "end_step": 1290, "id": "79352c23-d123-4528-8f8b-9521e051961d"}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the grasped white hexagonal block upward to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers the block to fit onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1192, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: press: Right hand moves vertically downward along the purple peg to press the white hexagonal block, applying downward pressure until the block rests on the wooden base surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple peg to rest on the wooden base and releases contact with the block."}, {"label": "goal", "start_step": 1291, "end_step": 1385, "id": "b63adefc-1495-4274-b749-c6f68914266e"}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions and closes around the green hexagonal block on the table to establish a secure grip."}, {"label": "goal", "start_step": 1386, "end_step": 1575, "id": "3ba387cb-0494-431f-9bb3-828b353eaee4"}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, fully separating the block from the dark table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand transports the lifted green hexagonal block upward and backward toward the purple vertical rod on the wooden base, positioning the block directly above the rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1574, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, moves the block downward along the rod, and makes slight positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward from near the central block assembly toward the frontmost white hexagonal nut resting on the dark table surface, approaching the nut without making contact."}, {"label": "goal", "start_step": 1576, "end_step": 1695, "id": "d111f9b1-3768-4d61-af12-56a9fed0c1dc"}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the frontmost white hexagonal nut on the dark table surface, adjusting finger positions to form a stable grip on the nut while the nut remains on the table."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the frontmost white hexagonal nut steadily on the dark table surface, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand grips the white hexagonal block resting on the dark table surface and lifts it upward until the block is fully separated from the table."}, {"label": "goal", "start_step": 1696, "end_step": 1865, "id": "bd472a3f-fcb4-4e29-9c91-a0f60737ef36"}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the position directly above the purple vertical rod on the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1748, "end_step": 1851, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod, lowers the block to fit onto the rod, and makes small positional adjustments to properly seat the block on the assembly."}, {"label": "subtasks", "start_step": 1852, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the properly seated white hexagonal block on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand releases the white-and-green cylinder on the wooden base, fingers opening as they move away from the stabilized cylinder."}, {"label": "goal", "start_step": 1866, "end_step": 1970, "id": "52e88c4b-f122-410b-9ad3-307caa15b64b"}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves toward the upper white hexagonal nut on the right side of the table, staying empty while approaching the target object."}, {"label": "subtasks", "start_step": 1942, "end_step": 2047, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand contacts the upper white hexagonal nut, fingers closing around the nut with small wrist adjustments to form a grip."}, {"label": "goal", "start_step": 1971, "end_step": 2145, "id": "2582af3c-1608-4b1a-a096-2d014f47b6b4"}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, transports it upward and leftward to the position directly above the target stack on the wooden block holder."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand moves the grasped white hexagonal block downward, aligns it with the target post on the block stack, mates it to the top of the existing stack until the block is stably supported by the stack."}, {"label": "subtasks", "start_step": 2138, "end_step": 2144, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers to release the grasped white hexagonal block, separating the hand from the block placed on the stack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward from the area near the stacked column toward the white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 2146, "end_step": 2235, "id": "d8c21585-9264-466f-a584-02fb2479d434"}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to the grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand holds the white cylindrical object with closed fingers and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 2236, "end_step": 2400, "id": "e7152521-4867-48ab-803e-6944a981d938"}, {"label": "subtasks", "start_step": 2258, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the grasped white cylindrical object upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2302, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod on the wooden rack and makes slight positional adjustments to fit the object onto the rod."}, {"label": "subtasks", "start_step": 2400, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand holds the white cylindrical block with green band, moves it downward to align and place it onto the purple rod on the wooden block base, opens fingers to release the stably supported block."}, {"label": "goal", "start_step": 2401, "end_step": 2565, "id": "7bfc0c04-f00c-4484-899e-7df4b5ef853f"}, {"label": "subtasks", "start_step": 2460, "end_step": 2519, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green hollow square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2564, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hollow square block on the dark table surface, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand holds the green block on the dark table surface and lifts it upward."}, {"label": "goal", "start_step": 2566, "end_step": 3355, "id": "c4b4175a-c967-488e-b78f-38d35fa2ffbf"}, {"label": "subtasks", "start_step": 2580, "end_step": 2609, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted green block upward and toward the empty slot on the white block rack."}, {"label": "subtasks", "start_step": 2610, "end_step": 2991, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand adjusts the green block's position and orientation slightly to align it with the empty slot on the block rack."}, {"label": "subtasks", "start_step": 2992, "end_step": 3044, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the green block downward and away from the block rack back toward the dark table surface."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand lowers the green block onto the dark table surface and opens fingers to release the block."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: retreat: Right hand moves slightly away from the released green block on the table with an empty hand."}, {"label": "subtasks", "start_step": 3075, "end_step": 3194, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions to close around and firmly grasp the green block on the dark table surface."}, {"label": "subtasks", "start_step": 3195, "end_step": 3224, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand holds the grasped green block and lifts it upward off the dark table surface."}, {"label": "subtasks", "start_step": 3225, "end_step": 3247, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted green block upward and back toward the empty slot on the white block rack."}, {"label": "subtasks", "start_step": 3248, "end_step": 3359, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand adjusts the green block's position and orientation slightly to align it with the empty slot on the block rack."}, {"label": "home", "start_step": 3471, "end_step": 3505, "id": "q0hWs5tBTq5dGtbUaswak"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves from its initial right-side position toward the green hexagonal nut located at the front-left of the wooden assembly board, adjusting finger posture slightly during the empty-handed approach, with no contact made to the target nut."}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut on the table surface, making small wrist and finger adjustments to establish a stable grip, while the nut remains supported by the table."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the gripped green hexagonal nut steadily on the table surface at the front-left of the wooden assembly board, with no observable movement of the hand, fingers, wrist or the nut."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand moves upward to lift the gripped green hexagonal nut, with the nut still remaining in contact with the table surface at the end of the segment."}, {"label": "subtasks", "start_step": 240, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts fingers around the green hexagonal nut on the black table surface to form a stable grip, with the nut remaining on the table."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal nut completely off the table surface and moves it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and lowers the nut to fit it onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 322, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal nut properly seated on the purple peg, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place: Right hand lowers the held green hexagonal block down along the purple peg until it rests on the wooden pegboard base."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block seated on the purple peg."}, {"label": "subtasks", "start_step": 442, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward while empty towards the white hexagonal block positioned closest to the pegboard on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the nearby white hexagonal block on the black table surface, adjusting slightly to secure a stable grip."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts its grip around the white hexagonal nut resting on the black table surface, with fingers closed to secure the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to a position directly above the purple peg on the wooden block."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and moves the nut downward to fit onto the peg, with small positional adjustments to maintain alignment."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand positions the white cylindrical sleeve onto the leftmost purple peg above the green block, opening fingers to release the sleeve."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward to approach the leftmost white hexagonal nut on the black work surface."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward away from the black work surface."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand holds the lifted white hexagonal block and moves it upward and backward to position it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple peg, lowering the block to fit over the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod of the wooden assembly rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward from the wooden rack area toward the white hexagonal block resting on the table in front of the rack, adjacent to a green hexagonal block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger and wrist positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal block on the black tabletop and lifts the block completely off the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the grasped white hexagonal block upward to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers the block to fit onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1192, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: press: Right hand moves vertically downward along the purple peg to press the white hexagonal block, applying downward pressure until the block rests on the wooden base surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple peg to rest on the wooden base and releases contact with the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions and closes around the green hexagonal block on the table to establish a secure grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, fully separating the block from the dark table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand transports the lifted green hexagonal block upward and backward toward the purple vertical rod on the wooden base, positioning the block directly above the rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1574, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, moves the block downward along the rod, and makes slight positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward from near the central block assembly toward the frontmost white hexagonal nut resting on the dark table surface, approaching the nut without making contact."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the frontmost white hexagonal nut on the dark table surface, adjusting finger positions to form a stable grip on the nut while the nut remains on the table."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the frontmost white hexagonal nut steadily on the dark table surface, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand grips the white hexagonal block resting on the dark table surface and lifts it upward until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the position directly above the purple vertical rod on the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1748, "end_step": 1851, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod, lowers the block to fit onto the rod, and makes small positional adjustments to properly seat the block on the assembly."}, {"label": "subtasks", "start_step": 1852, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the properly seated white hexagonal block on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand releases the white-and-green cylinder on the wooden base, fingers opening as they move away from the stabilized cylinder."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves toward the upper white hexagonal nut on the right side of the table, staying empty while approaching the target object."}, {"label": "subtasks", "start_step": 1942, "end_step": 2047, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand contacts the upper white hexagonal nut, fingers closing around the nut with small wrist adjustments to form a grip."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, transports it upward and leftward to the position directly above the target stack on the wooden block holder."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand moves the grasped white hexagonal block downward, aligns it with the target post on the block stack, mates it to the top of the existing stack until the block is stably supported by the stack."}, {"label": "subtasks", "start_step": 2138, "end_step": 2144, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers to release the grasped white hexagonal block, separating the hand from the block placed on the stack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward from the area near the stacked column toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to the grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand holds the white cylindrical object with closed fingers and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 2258, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the grasped white cylindrical object upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2302, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod on the wooden rack and makes slight positional adjustments to fit the object onto the rod."}, {"label": "subtasks", "start_step": 2400, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand holds the white cylindrical block with green band, moves it downward to align and place it onto the purple rod on the wooden block base, opens fingers to release the stably supported block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2519, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green hollow square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2564, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hollow square block on the dark table surface, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand holds the green block on the dark table surface and lifts it upward."}, {"label": "subtasks", "start_step": 2580, "end_step": 2609, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted green block upward and toward the empty slot on the white block rack."}, {"label": "subtasks", "start_step": 2610, "end_step": 2991, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand adjusts the green block's position and orientation slightly to align it with the empty slot on the block rack."}, {"label": "subtasks", "start_step": 2992, "end_step": 3044, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the green block downward and away from the block rack back toward the dark table surface."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand lowers the green block onto the dark table surface and opens fingers to release the block."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: retreat: Right hand moves slightly away from the released green block on the table with an empty hand."}, {"label": "subtasks", "start_step": 3075, "end_step": 3194, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions to close around and firmly grasp the green block on the dark table surface."}, {"label": "subtasks", "start_step": 3195, "end_step": 3224, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand holds the grasped green block and lifts it upward off the dark table surface."}, {"label": "subtasks", "start_step": 3225, "end_step": 3247, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted green block upward and back toward the empty slot on the white block rack."}, {"label": "subtasks", "start_step": 3248, "end_step": 3359, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand adjusts the green block's position and orientation slightly to align it with the empty slot on the block rack."}], "episode_index": 17}
+{"source_uid": "87953abddc1a543b", "num_frames": 2840, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the home position at the left upper side of the worktable. | Right hand: reach: Right hand moves upward then leftward and downward to approach the left green hexagonal block on the table, with no contact established."}, {"label": "goal", "start_step": 0, "end_step": 250, "id": "871c05dd-1b86-45dc-8a47-70d231a347d7"}, {"label": "valid", "start_step": 0, "end_step": 2809, "id": "y1P3EM2OKm36oujLEJlvV"}, {"label": "subtasks", "start_step": 30, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves upward then leftward and downward to approach the left green hexagonal block on the table, with no contact established."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left green hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift: Right hand lifts the left green hexagonal block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand carries the green hexagonal block upward toward the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand adjusts its grip to grasp the green block on the dark table surface."}, {"label": "goal", "start_step": 251, "end_step": 370, "id": "bfaffcac-cbfe-472e-b639-d06d64981cc6"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts and transports the green block from the table to the position above the purple pegs on the wooden board."}, {"label": "subtasks", "start_step": 285, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green block onto the purple peg by aligning and lowering it onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the green block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: place_release: Right hand places the green cubic block onto the wooden base of the leftmost purple peg, releasing it upon contact with the base."}, {"label": "goal", "start_step": 371, "end_step": 515, "id": "5110929f-79fe-4012-9861-5846878f494d"}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the upper left part of the table surface, moving downward from the peg area."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table next to the green cube, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 516, "end_step": 670, "id": "5ceec291-fcfa-4e4d-ad18-89465221a794"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it upward to the position above the leftmost purple peg of the peg set."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the white hexagonal part by opening its fingers to separate from the part."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the white hex block onto the leftmost vertical peg of the wooden base."}, {"label": "goal", "start_step": 671, "end_step": 795, "id": "d7b1f07d-1e5b-4063-80c5-ca02d91cbdfc"}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the left white hex block on the dark table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hex block on the dark table surface, adjusting the grip."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the left white hex block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the green base of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 796, "end_step": 960, "id": "a6f578a8-4472-4f29-aa5a-5dcd0eea0371"}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the green base and transports it toward the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod of the test tube rack and fits it down onto the rod until it touches the green base below."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers and separates from the block."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward from the upper peg group area toward the white cube on the table in front of the wooden base, with no contact with the cube."}, {"label": "goal", "start_step": 961, "end_step": 1140, "id": "30a14bc8-a542-4d5a-a50f-61d85632469e"}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cube on the table in front of the wooden base, with slight finger adjustments for stable grip."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white cube off the table and transports it to the position above the middle purple peg, adjusting the cube's orientation to align its hole with the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand moves the white cube downward to fit it onto the middle purple peg, completing the nesting assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the front peg of the wooden rack and carries it to the position above the right purple peg."}, {"label": "goal", "start_step": 1141, "end_step": 1225, "id": "41781e43-0339-4f1b-85cd-d2d97a93a2f7"}, {"label": "subtasks", "start_step": 1170, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate_release: Right hand lowers the white cubic block onto the right purple peg to fit it in place and releases its grip on the block."}, {"label": "goal", "start_step": 1226, "end_step": 1340, "id": "0115d97c-0ef0-42d8-b670-b69ea130d6ce"}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1341, "end_step": 1480, "id": "d551d38f-7888-43fa-aa28-8031346a4936"}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it upward to the top of the middle peg."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green cubic block onto the middle peg by lowering it to fit the peg through the block's hole."}, {"label": "subtasks", "start_step": 1432, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the middle peg without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple vertical post, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1481, "end_step": 1650, "id": "d0406ebd-f4b0-43e3-894c-31f6b98baa69"}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and moves it upward toward the post assembly area."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand transports the white perforated cubic block upward and leftward from the tabletop area to the position above the target peg on the wooden pegboard."}, {"label": "goal", "start_step": 1651, "end_step": 1750, "id": "7fd25e46-a5a9-472c-a806-d480e7780228"}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the white perforated cubic block with the target peg by lowering the block to fit the peg through its central hole."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate_release: Right hand mates the white block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1751, "end_step": 1845, "id": "643bae40-3766-4ec8-8d2c-166f94eb8adc"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white cubic block on the table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white cubic block on the table surface with fingers closing and adjusting for stable grip."}, {"label": "goal", "start_step": 1846, "end_step": 1965, "id": "704480eb-3998-495f-968b-28ebb8e21126"}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts and transports the white hollow block from the table to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand opens its fingers to release the white hollow block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1958, "end_step": 1964, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: retreat: Right hand moves upward away from the white block on the purple rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 1966, "end_step": 2060, "id": "65f21dc2-4ca8-41fc-82ab-f2cfa457ec03"}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift: Right hand lifts the white square block upward from the dark table surface."}, {"label": "goal", "start_step": 2061, "end_step": 2175, "id": "08982c81-95a4-4fab-8179-aef0b3382cce"}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand transports the white square block leftward and upward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the inner hole of the white square block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: place: Right hand lowers the white square block along the purple rod and places it on the supporting block at the bottom of the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release_retreat: Right hand opens its fingers to release the white square block, then moves slightly rightward away from the block."}, {"label": "subtasks", "start_step": 2175, "end_step": 2227, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward from the position near the bottle rack toward the green cube on the dark table surface."}, {"label": "goal", "start_step": 2176, "end_step": 2290, "id": "5e4ccdad-cfbb-47d5-a392-971bebe7d5ed"}, {"label": "subtasks", "start_step": 2228, "end_step": 2279, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift: Right hand lifts the green square block from the dark table surface."}, {"label": "goal", "start_step": 2291, "end_step": 2770, "id": "9e6653e5-3c4f-44e1-96b6-31b793ce09fa"}, {"label": "subtasks", "start_step": 2302, "end_step": 2331, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand transports the green square block upward and leftward to the top of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2332, "end_step": 2511, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green square block onto the target peg, adjusting position to align the block's hole with the peg."}, {"label": "subtasks", "start_step": 2512, "end_step": 2534, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the green square block, fingers opening to separate from the block which falls onto the table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand reaches downward toward the green square block on the dark table surface next to the wooden rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2654, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the green square block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2655, "end_step": 2677, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift: Right hand lifts the green square block from the dark table surface."}, {"label": "subtasks", "start_step": 2678, "end_step": 2707, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand transports the green square block upward and leftward to the top of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2708, "end_step": 2774, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green square block onto the target peg, lowering it to fit securely on the peg."}, {"label": "home", "start_step": 2810, "end_step": 2839, "id": "lgrXdQhbRRHshg2ODuX6B"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the home position at the left upper side of the worktable. | Right hand: reach: Right hand moves upward then leftward and downward to approach the left green hexagonal block on the table, with no contact established."}, {"label": "subtasks", "start_step": 30, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves upward then leftward and downward to approach the left green hexagonal block on the table, with no contact established."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left green hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift: Right hand lifts the left green hexagonal block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand carries the green hexagonal block upward toward the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand adjusts its grip to grasp the green block on the dark table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts and transports the green block from the table to the position above the purple pegs on the wooden board."}, {"label": "subtasks", "start_step": 285, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green block onto the purple peg by aligning and lowering it onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the green block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: place_release: Right hand places the green cubic block onto the wooden base of the leftmost purple peg, releasing it upon contact with the base."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the upper left part of the table surface, moving downward from the peg area."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table next to the green cube, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it upward to the position above the leftmost purple peg of the peg set."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the white hexagonal part by opening its fingers to separate from the part."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the white hex block onto the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the left white hex block on the dark table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hex block on the dark table surface, adjusting the grip."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the left white hex block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the green base of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the green base and transports it toward the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod of the test tube rack and fits it down onto the rod until it touches the green base below."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers and separates from the block."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward from the upper peg group area toward the white cube on the table in front of the wooden base, with no contact with the cube."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cube on the table in front of the wooden base, with slight finger adjustments for stable grip."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white cube off the table and transports it to the position above the middle purple peg, adjusting the cube's orientation to align its hole with the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand moves the white cube downward to fit it onto the middle purple peg, completing the nesting assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the front peg of the wooden rack and carries it to the position above the right purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate_release: Right hand lowers the white cubic block onto the right purple peg to fit it in place and releases its grip on the block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it upward to the top of the middle peg."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green cubic block onto the middle peg by lowering it to fit the peg through the block's hole."}, {"label": "subtasks", "start_step": 1432, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the middle peg without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple vertical post, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and moves it upward toward the post assembly area."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand transports the white perforated cubic block upward and leftward from the tabletop area to the position above the target peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the white perforated cubic block with the target peg by lowering the block to fit the peg through its central hole."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate_release: Right hand mates the white block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white cubic block on the table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white cubic block on the table surface with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts and transports the white hollow block from the table to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand opens its fingers to release the white hollow block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1958, "end_step": 1964, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: retreat: Right hand moves upward away from the white block on the purple rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift: Right hand lifts the white square block upward from the dark table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand transports the white square block leftward and upward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the inner hole of the white square block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: place: Right hand lowers the white square block along the purple rod and places it on the supporting block at the bottom of the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release_retreat: Right hand opens its fingers to release the white square block, then moves slightly rightward away from the block."}, {"label": "subtasks", "start_step": 2175, "end_step": 2227, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward from the position near the bottle rack toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2228, "end_step": 2279, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift: Right hand lifts the green square block from the dark table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2331, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand transports the green square block upward and leftward to the top of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2332, "end_step": 2511, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green square block onto the target peg, adjusting position to align the block's hole with the peg."}, {"label": "subtasks", "start_step": 2512, "end_step": 2534, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the green square block, fingers opening to separate from the block which falls onto the table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand reaches downward toward the green square block on the dark table surface next to the wooden rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2654, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the green square block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2655, "end_step": 2677, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift: Right hand lifts the green square block from the dark table surface."}, {"label": "subtasks", "start_step": 2678, "end_step": 2707, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand transports the green square block upward and leftward to the top of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2708, "end_step": 2774, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green square block onto the target peg, lowering it to fit securely on the peg."}], "episode_index": 18}
+{"source_uid": "eeff520643bbae64", "num_frames": 2738, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block at the front left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "8b414def-0e77-4037-8245-0066fe4a108b"}, {"label": "valid", "start_step": 0, "end_step": 2707, "id": "zYRoT8MfINAEmYl1xmC2j"}, {"label": "subtasks", "start_step": 68, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers and closes to grasp the green block on the black table."}, {"label": "goal", "start_step": 171, "end_step": 320, "id": "fd89c846-d20b-4d39-a010-7d5f53ea7abc"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward until it is completely off the black table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the gripped green block to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block onto the purple rod fixed on the wooden base."}, {"label": "goal", "start_step": 321, "end_step": 430, "id": "9f56ac8d-2ce5-497e-b4e6-f4e202b828e7"}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 431, "end_step": 565, "id": "edccf16e-6b0c-42f1-bee0-661052f5faae"}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rods on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the leftmost purple rod and presses it down to secure."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden 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moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the tabletop and transports it towards the wooden base with purple rods."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 788, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal part down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 846, "end_step": 990, "id": "af3a0cd6-f0f6-4815-b937-0b2c1c28886b"}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "goal", "start_step": 991, "end_step": 1115, "id": "3898ca16-3b3e-4a08-88a6-7d441cf46590"}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the purple rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1116, "end_step": 1225, "id": "7f605059-f17f-488d-84ce-4d41944e382b"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp and adjust grip on the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 1226, "end_step": 1375, "id": "3c4a5b86-734b-4309-a7c0-9dbf1c2ab7de"}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upwards away from the table surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green cubic block towards the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1376, "end_step": 1500, "id": "ff56082c-6bda-47d1-9331-b7238f5db3b7"}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hex ring on the table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hex ring on the table surface."}, {"label": "goal", "start_step": 1501, "end_step": 1685, "id": "8c09ea25-7f95-46b5-8403-56ea5e29593d"}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object off the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white cylindrical object towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1568, "end_step": 1641, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the peg on the green block of the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the aligned peg of the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the green block on the wooden base."}, {"label": "goal", "start_step": 1686, "end_step": 1835, "id": "845b0575-1ce9-418e-ac75-19c43669c18d"}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block placed on the table."}, {"label": "subtasks", "start_step": 1792, "end_step": 1851, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "goal", "start_step": 1836, "end_step": 1965, "id": "1fb08eff-a222-4dae-8aba-c267c8fe0c90"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block up away from the black tabletop."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white cylindrical block to the position right above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cylindrical block onto the purple vertical rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2031, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1966, "end_step": 2090, "id": "ecd18f64-3810-4ab5-a0b6-5d93117c1e92"}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "goal", "start_step": 2091, "end_step": 2220, "id": "a8a86535-7045-43b3-a82e-63c47c047c9e"}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2204, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple rod on the wooden base until it is supported by the rod."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base, then releases the block."}, {"label": "goal", "start_step": 2221, "end_step": 2355, "id": "0ecf1072-9bad-400f-b2d1-2d7523189cb0"}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green block on the table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2331, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2332, "end_step": 2377, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the table surface."}, {"label": "goal", "start_step": 2356, "end_step": 2680, "id": "a50d4781-2587-4daf-a01c-fc982474bbe7"}, {"label": "subtasks", "start_step": 2378, "end_step": 2407, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to above the rightmost white post on the wooden rack."}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the inner hole of the green block with the rightmost white post and fits the block onto the post."}, {"label": "subtasks", "start_step": 2445, "end_step": 2669, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the rightmost white post to secure it in place."}, {"label": "subtasks", "start_step": 2670, "end_step": 2684, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block on the white post."}, {"label": "home", "start_step": 2708, "end_step": 2737, "id": "U0ozsKssnvek2Fw8v-Lvz"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block at the front left of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers and closes to grasp the green block on the black table."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward until it is completely off the black table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the gripped green block to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block onto the purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rods on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the leftmost purple rod and presses it down to secure."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the left white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the left white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the tabletop and transports it towards the wooden base with purple rods."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 788, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal part down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the purple rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp and adjust grip on the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upwards away from the table surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green cubic block towards the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hex ring on the table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hex ring on the table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object off the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white cylindrical object towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1568, "end_step": 1641, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the peg on the green block of the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the aligned peg of the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the green block on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block placed on the table."}, {"label": "subtasks", "start_step": 1792, "end_step": 1851, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block up away from the black tabletop."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white cylindrical block to the position right above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cylindrical block onto the purple vertical rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2031, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2204, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple rod on the wooden base until it is supported by the rod."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base, then releases the block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green block on the table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2331, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2332, "end_step": 2377, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2407, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to above the rightmost white post on the wooden rack."}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the inner hole of the green block with the rightmost white post and fits the block onto the post."}, {"label": "subtasks", "start_step": 2445, "end_step": 2669, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the rightmost white post to secure it in place."}, {"label": "subtasks", "start_step": 2670, "end_step": 2684, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block on the white post."}], "episode_index": 19}
+{"source_uid": "7a0775f1e8505cde", "num_frames": 3063, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves from its initial upper-right position toward the green hexagonal nut located at the front-left of the wooden peg rack, with fingers extended and open."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "a0448a5d-f7b1-4620-a608-049721df791a"}, {"label": "valid", "start_step": 0, "end_step": 3032, "id": "5vOontnSAILRpkZb7Zyhr"}, {"label": "subtasks", "start_step": 112, "end_step": 217, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal nut, making slight adjustments to finger positions to form a grasp, while the nut remains resting on the table surface."}, {"label": "goal", "start_step": 201, "end_step": 325, "id": "6a3e476a-8620-44a0-ade2-031d1d61f35b"}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, moving it upward to position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple post, adjusts its position, and fits the block onto the post for nesting assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 326, "end_step": 435, "id": "0bba3a7a-9aad-49bb-bd5a-ef6b8b69ddc4"}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward with empty hand to approach the white hexagonal block on the front left of the table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the front left white hexagonal block on the table and adjusts its grip to establish stable hold."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the front left white hexagonal block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand approaches the white hexagonal nut on the black table surface and closes fingers to form a stable grip around the nut, which remains supported by the table."}, {"label": "goal", "start_step": 436, "end_step": 625, "id": "6db39ff4-bd39-477a-a2ab-aed75f942c1c"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut upward to fully separate it from the table surface, moving the nut through air to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 488, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit it onto the peg with slight positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple peg, with no observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds the white cylindrical sleeve, moves it downward to seat it onto the green block on the purple support rod, fingers opening to release the sleeve once it is supported by the block."}, {"label": "goal", "start_step": 626, "end_step": 775, "id": "60d2d79d-a2f5-4939-bfff-8c36da13b268"}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward toward the leftmost white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand positions fingers around the leftmost white hexagonal nut, adjusting finger contact positions and closing fingers to form a grip on the nut."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the dark table surface and carries the block to the position directly above the purple post on the wooden assembly base."}, {"label": "goal", "start_step": 776, "end_step": 1000, "id": "4096a83a-122b-44d6-840a-bde8a580c8a7"}, {"label": "subtasks", "start_step": 802, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand makes slight positional and angular adjustments to align the central hole of the white hexagonal block with the purple post, fitting the block onto the post."}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand is empty, moves downward from the upper area of the wooden assembly stand to approach the nearest white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1001, "end_step": 1115, "id": "8d0da52e-aeea-45ae-8c72-2c21cca994e1"}, {"label": "subtasks", "start_step": 1050, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block, fingers close and perform slight positional adjustments to form a stable grasp on the block."}, {"label": "goal", "start_step": 1116, "end_step": 1245, "id": "c5232230-b36a-4619-84f4-f89f58ddea78"}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward and horizontally to a position directly above the empty purple peg on the wooden assembly."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_mate: Right hand lowers the white hexagonal cylinder onto the purple peg, aligning the cylinder's central hole with the peg to seat it on the wooden assembly."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal cylinder stably seated on the purple peg of the wooden assembly with no observable movement."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block above the purple rod on the wooden peg base."}, {"label": "goal", "start_step": 1246, "end_step": 1370, "id": "634db5df-8243-4d72-ae81-051ff8fed3cb"}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes and adjusts fingers around the green hexagonal block on the table to form a stable grip, with the block remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1371, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward slightly off the table surface."}, {"label": "goal", "start_step": 1371, "end_step": 1475, "id": "e83447e3-655b-4ef8-8f0d-d572111cb69b"}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand grasps the green hexagonal block on the dark table surface, lifting it completely off the table and moving it upward to position the block directly above the target purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowering the block to fit it onto the peg to form an assembly with the rack."}, {"label": "subtasks", "start_step": 1448, "end_step": 1507, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the assembled green block on the purple peg without any visible movement of the hand, fingers, or block."}, {"label": "goal", "start_step": 1476, "end_step": 1620, "id": "72ba5aef-0683-4c5b-b158-cb540439218d"}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release_reach: Right hand opens fingers to release the white cylindrical block on the purple rod, moving downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1597, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand grips the white hexagonal nut and moves it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 1621, "end_step": 1820, "id": "bfa06fde-4c18-4af9-b27a-9df77282a53c"}, {"label": "subtasks", "start_step": 1658, "end_step": 1814, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod, making small positional adjustments to align the parts properly."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the top of the purple rod on the wooden base, opening fingers to release the block once it is supported by the rod."}, {"label": "goal", "start_step": 1821, "end_step": 1940, "id": "4557d7fc-d8ae-42e8-9dbd-e4eac754a3df"}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves rightward and downward toward the white hexagonal nut resting on the table near the wooden base, with no contact to the target nut."}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes small finger adjustments to close around the white hexagonal nut on the table, working to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward off the dark table surface."}, {"label": "goal", "start_step": 1941, "end_step": 2090, "id": "148f88b9-341a-4f41-bddf-347658f28c73"}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2084, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to fit over the rod, and opens fingers to release the block onto the rod."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand releases the white hexagonal block mounted on the purple rod of the wooden block stand, fingers opening to break contact with the block."}, {"label": "goal", "start_step": 2091, "end_step": 2180, "id": "0ae7c54a-0061-42a9-9a73-187a7fe3526d"}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and rightward through empty space toward the loose white hexagonal nut resting on the dark work surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2189, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand contacts the loose white hexagonal nut on the dark work surface, closing and adjusting finger positions to establish a grip on the nut."}, {"label": "goal", "start_step": 2181, "end_step": 2305, "id": "181f7191-8dc8-4df7-9f28-efd25fd924fc"}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table surface and moves it upward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2228, "end_step": 2294, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and lowers the block to nest it onto the rod for assembly."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block positioned on the purple peg of the wooden assembly stand."}, {"label": "goal", "start_step": 2306, "end_step": 2415, "id": "b5fc431f-1f41-4188-b1c4-3c4364782d79"}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward across the dark work surface toward the green hollow cube, making no contact with the cube during this movement."}, {"label": "subtasks", "start_step": 2355, "end_step": 2407, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hollow cube resting on the dark work surface, making small finger position adjustments to form a stable grip while the cube remains on the work surface."}, {"label": "subtasks", "start_step": 2408, "end_step": 2414, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves upward with the grasped green hollow cube, lifting the cube completely away from the dark work surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2474, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the grasped green block upward and leftward toward the purple post on the wooden block rack."}, {"label": "goal", "start_step": 2416, "end_step": 2990, "id": "5bc66b8a-7db6-4a6b-909a-8a34f3729aca"}, {"label": "subtasks", "start_step": 2475, "end_step": 2519, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand adjusts the green block to align its hole with the purple post, opens fingers to release the block which falls to the table."}, {"label": "subtasks", "start_step": 2520, "end_step": 2564, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: idle: Right hand remains empty above the block rack without any visible movement."}, {"label": "subtasks", "start_step": 2565, "end_step": 2594, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward empty to approach the green block resting on the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green block on the table to form a grip."}, {"label": "subtasks", "start_step": 2625, "end_step": 2677, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reorient: Right hand rotates the grasped green block about a quarter turn to position it upright on the table."}, {"label": "subtasks", "start_step": 2678, "end_step": 2721, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand moves the upright green block slightly forward to the marked position on the table."}, {"label": "subtasks", "start_step": 2722, "end_step": 2841, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions on the upright green block to stabilize the grip for subsequent lifting."}, {"label": "subtasks", "start_step": 2842, "end_step": 2894, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward and leftward to the position above the purple post."}, {"label": "subtasks", "start_step": 2895, "end_step": 2931, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the purple post below."}, {"label": "subtasks", "start_step": 2932, "end_step": 2999, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place: Right hand lowers the green block onto the purple post until the block is fully supported by the post."}, {"label": "home", "start_step": 3033, "end_step": 3062, "id": "pW16qD1fBInc1__pQSjrT"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves from its initial upper-right position toward the green hexagonal nut located at the front-left of the wooden peg rack, with fingers extended and open."}, {"label": "subtasks", "start_step": 112, "end_step": 217, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal nut, making slight adjustments to finger positions to form a grasp, while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, moving it upward to position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple post, adjusts its position, and fits the block onto the post for nesting assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward with empty hand to approach the white hexagonal block on the front left of the table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the front left white hexagonal block on the table and adjusts its grip to establish stable hold."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the front left white hexagonal block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand approaches the white hexagonal nut on the black table surface and closes fingers to form a stable grip around the nut, which remains supported by the table."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut upward to fully separate it from the table surface, moving the nut through air to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 488, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit it onto the peg with slight positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple peg, with no observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds the white cylindrical sleeve, moves it downward to seat it onto the green block on the purple support rod, fingers opening to release the sleeve once it is supported by the block."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward toward the leftmost white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand positions fingers around the leftmost white hexagonal nut, adjusting finger contact positions and closing fingers to form a grip on the nut."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the dark table surface and carries the block to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 802, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand makes slight positional and angular adjustments to align the central hole of the white hexagonal block with the purple post, fitting the block onto the post."}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand is empty, moves downward from the upper area of the wooden assembly stand to approach the nearest white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block, fingers close and perform slight positional adjustments to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward and horizontally to a position directly above the empty purple peg on the wooden assembly."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_mate: Right hand lowers the white hexagonal cylinder onto the purple peg, aligning the cylinder's central hole with the peg to seat it on the wooden assembly."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal cylinder stably seated on the purple peg of the wooden assembly with no observable movement."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block above the purple rod on the wooden peg base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes and adjusts fingers around the green hexagonal block on the table to form a stable grip, with the block remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1371, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward slightly off the table surface."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand grasps the green hexagonal block on the dark table surface, lifting it completely off the table and moving it upward to position the block directly above the target purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowering the block to fit it onto the peg to form an assembly with the rack."}, {"label": "subtasks", "start_step": 1448, "end_step": 1507, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the assembled green block on the purple peg without any visible movement of the hand, fingers, or block."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release_reach: Right hand opens fingers to release the white cylindrical block on the purple rod, moving downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1597, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand grips the white hexagonal nut and moves it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1814, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod, making small positional adjustments to align the parts properly."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the top of the purple rod on the wooden base, opening fingers to release the block once it is supported by the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves rightward and downward toward the white hexagonal nut resting on the table near the wooden base, with no contact to the target nut."}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes small finger adjustments to close around the white hexagonal nut on the table, working to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward off the dark table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2084, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to fit over the rod, and opens fingers to release the block onto the rod."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand releases the white hexagonal block mounted on the purple rod of the wooden block stand, fingers opening to break contact with the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and rightward through empty space toward the loose white hexagonal nut resting on the dark work surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2189, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand contacts the loose white hexagonal nut on the dark work surface, closing and adjusting finger positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table surface and moves it upward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2228, "end_step": 2294, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and lowers the block to nest it onto the rod for assembly."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block positioned on the purple peg of the wooden assembly stand."}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward across the dark work surface toward the green hollow cube, making no contact with the cube during this movement."}, {"label": "subtasks", "start_step": 2355, "end_step": 2407, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hollow cube resting on the dark work surface, making small finger position adjustments to form a stable grip while the cube remains on the work surface."}, {"label": "subtasks", "start_step": 2408, "end_step": 2414, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves upward with the grasped green hollow cube, lifting the cube completely away from the dark work surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2474, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the grasped green block upward and leftward toward the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 2475, "end_step": 2519, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand adjusts the green block to align its hole with the purple post, opens fingers to release the block which falls to the table."}, {"label": "subtasks", "start_step": 2520, "end_step": 2564, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: idle: Right hand remains empty above the block rack without any visible movement."}, {"label": "subtasks", "start_step": 2565, "end_step": 2594, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward empty to approach the green block resting on the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green block on the table to form a grip."}, {"label": "subtasks", "start_step": 2625, "end_step": 2677, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reorient: Right hand rotates the grasped green block about a quarter turn to position it upright on the table."}, {"label": "subtasks", "start_step": 2678, "end_step": 2721, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand moves the upright green block slightly forward to the marked position on the table."}, {"label": "subtasks", "start_step": 2722, "end_step": 2841, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions on the upright green block to stabilize the grip for subsequent lifting."}, {"label": "subtasks", "start_step": 2842, "end_step": 2894, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward and leftward to the position above the purple post."}, {"label": "subtasks", "start_step": 2895, "end_step": 2931, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the purple post below."}, {"label": "subtasks", "start_step": 2932, "end_step": 2999, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place: Right hand lowers the green block onto the purple post until the block is fully supported by the post."}], "episode_index": 20}
+{"source_uid": "43ea222478d4374c", "num_frames": 2567, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward and leftward from the left lower position to the home position at the upper left side of the table, remaining empty. | Right hand: reach: Right hand moves leftward and slightly upward from the right side of the table toward the green hexagonal block on the table in front of the wooden peg rack, remaining empty."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "8623c7c7-6e5c-4bf3-a376-7f4ae269c459"}, {"label": "valid", "start_step": 0, "end_step": 2536, "id": "jXIHBK6hcs8Rbeqm0q4lQ"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves leftward and slightly upward from the right side of the table toward the green hexagonal block on the table in front of the wooden peg rack, remaining empty."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface, holding the block steadily."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the front-left purple peg of the wooden rack and fits the block onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the wooden peg board, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 196, "end_step": 420, "id": "18abbcdf-44ba-49ca-8efb-327acee75543"}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the green hexagonal block rightward and upward to position it above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 300, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost purple peg and lowers the block onto the peg to assemble them."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press_release: Right hand presses the white hexagonal block on the leftmost purple peg downward, and releases the white block after the lower green block reaches the wooden base."}, {"label": "goal", "start_step": 421, "end_step": 570, "id": "ac109fde-a4a3-4553-9850-6bec37b07962"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the desktop in front of the pegboard."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the desktop, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 510, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the desktop without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}, {"label": "goal", "start_step": 571, "end_step": 695, "id": "f051892f-ab39-4b1e-b599-205188e97a33"}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the leftmost purple peg on the pegboard."}, {"label": "subtasks", "start_step": 600, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple peg by aligning the block's hole with the peg and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press: Right hand presses the white block down onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 696, "end_step": 800, "id": "25dfd82a-b445-4e3b-97a6-fdbfc30d4af0"}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward from the upper peg area to approach the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the dark table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 801, "end_step": 925, "id": "cffcba8a-1f4d-44e1-ac35-c72755bfd11f"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the dark table and transports it toward the leftmost purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden pegboard, lowering it to fit over the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 926, "end_step": 1020, "id": "79e0afb9-c375-4b45-bece-cc5928989500"}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the front left of the table, empty."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front left of the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 1021, "end_step": 1160, "id": "76eb87ea-f5e0-4282-bf58-c897b54cb528"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning the block's hole with the peg and lowering the block down the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white ring onto the middle purple peg of the wooden base."}, {"label": "goal", "start_step": 1161, "end_step": 1285, "id": "603dacca-6e3d-479b-b0f0-2672b89832b5"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1215, "end_step": 1289, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing and adjusting."}, {"label": "goal", "start_step": 1286, "end_step": 1430, "id": "c215aaa2-01e1-46bd-ad46-4bfcffbce030"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the vertical peg on the wooden board."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg, lowering it along the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the vertical peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the purple vertical rod and releases the block."}, {"label": "goal", "start_step": 1431, "end_step": 1540, "id": "9700709f-fbe3-4938-8b26-3be5a562f8e1"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the dark table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hollow block on the dark table surface with fingers closing and adjusting."}, {"label": "goal", "start_step": 1541, "end_step": 1675, "id": "3c315c13-e8fd-42b7-af40-66d7856119e7"}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder off the table and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1575, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple peg of the wooden rack, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1676, "end_step": 1770, "id": "c9fdb062-d649-4204-b112-74cbd16c840b"}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1771, "end_step": 1960, "id": "81a1d5f4-01b6-40af-bd26-5cb4716def4c"}, {"label": "subtasks", "start_step": 1845, "end_step": 1897, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base."}, {"label": "goal", "start_step": 1961, "end_step": 2055, "id": "748778cd-2684-4450-b42b-c7ef9b408409"}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing and adjusting."}, {"label": "goal", "start_step": 2056, "end_step": 2250, "id": "c09ef024-6360-4989-b9d7-85db1cd2c5ae"}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it upward and leftward to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2092, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the hole of the white block with the purple rod, then moves the block downward along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white block on the purple rod base without moving."}, {"label": "goal", "start_step": 2251, "end_step": 2370, "id": "fb15ec52-cc3d-45dc-9920-8002aa672304"}, {"label": "subtasks", "start_step": 2265, "end_step": 2271, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: release: Right hand releases its grip on the purple top of the white cylinder with green base placed in the wooden rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2361, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting position to form a stable grip."}, {"label": "subtasks", "start_step": 2362, "end_step": 2369, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the dark table surface."}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it to above the front-right bottle with a purple top."}, {"label": "goal", "start_step": 2371, "end_step": 2510, "id": "9f20f1e8-9541-4c80-8c6a-7bbf05593c15"}, {"label": "subtasks", "start_step": 2408, "end_step": 2497, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the green block with the purple top of the front-right bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press: Right hand presses the green block downward to fully seat it on the bottle."}, {"label": "home", "start_step": 2537, "end_step": 2566, "id": "kd6L2vZT_SIoxCzuytDHs"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward and leftward from the left lower position to the home position at the upper left side of the table, remaining empty. | Right hand: reach: Right hand moves leftward and slightly upward from the right side of the table toward the green hexagonal block on the table in front of the wooden peg rack, remaining empty."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves leftward and slightly upward from the right side of the table toward the green hexagonal block on the table in front of the wooden peg rack, remaining empty."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface, holding the block steadily."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the front-left purple peg of the wooden rack and fits the block onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the wooden peg board, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the green hexagonal block rightward and upward to position it above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 300, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost purple peg and lowers the block onto the peg to assemble them."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press_release: Right hand presses the white hexagonal block on the leftmost purple peg downward, and releases the white block after the lower green block reaches the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the desktop in front of the pegboard."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the desktop, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 510, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the desktop without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the leftmost purple peg on the pegboard."}, {"label": "subtasks", "start_step": 600, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple peg by aligning the block's hole with the peg and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press: Right hand presses the white block down onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward from the upper peg area to approach the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the dark table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the dark table and transports it toward the leftmost purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden pegboard, lowering it to fit over the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the front left of the table, empty."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front left of the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning the block's hole with the peg and lowering the block down the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white ring onto the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1215, "end_step": 1289, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the vertical peg on the wooden board."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg, lowering it along the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the vertical peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the purple vertical rod and releases the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the dark table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hollow block on the dark table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder off the table and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1575, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple peg of the wooden rack, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1845, "end_step": 1897, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it upward and leftward to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2092, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the hole of the white block with the purple rod, then moves the block downward along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white block on the purple rod base without moving."}, {"label": "subtasks", "start_step": 2265, "end_step": 2271, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: release: Right hand releases its grip on the purple top of the white cylinder with green base placed in the wooden rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2361, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting position to form a stable grip."}, {"label": "subtasks", "start_step": 2362, "end_step": 2369, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the dark table surface."}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it to above the front-right bottle with a purple top."}, {"label": "subtasks", "start_step": 2408, "end_step": 2497, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the green block with the purple top of the front-right bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press: Right hand presses the green block downward to fully seat it on the bottle."}], "episode_index": 21}
+{"source_uid": "779740b0b1a108bf", "num_frames": 3397, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the leftmost white cylindrical block on the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 215, "id": "392b7d2b-6569-4cd8-9124-4a5e2e60e2e1"}, {"label": "valid", "start_step": 0, "end_step": 3365, "id": "KM_QDf9GRXYeH7HptSXbV"}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the leftmost white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white cylindrical block upwards away from the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the black table surface."}, {"label": "goal", "start_step": 216, "end_step": 325, "id": "faca90bd-cdf0-42fd-8ea5-dbc82d4baa84"}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cube upwards away from the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cube to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube with the purple peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the purple peg without any movement."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the leftmost purple post of the wooden base."}, {"label": "goal", "start_step": 326, "end_step": 465, "id": "da36a868-b16a-4e6f-973a-e28d80cc65e8"}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves down from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}, {"label": "goal", "start_step": 466, "end_step": 590, "id": "3ff7c419-6b8e-4ac6-a0d1-1918edcd876f"}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg board area towards the leftmost white hexagonal block on the table, without contacting the block."}, {"label": "goal", "start_step": 591, "end_step": 755, "id": "0ec40e14-649b-4156-abdc-b239a5141632"}, {"label": "subtasks", "start_step": 660, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the leftmost white hexagonal block, fingers close and adjust slightly to form a stable grip on the block."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block slightly upwards off the table surface."}, {"label": "goal", "start_step": 756, "end_step": 875, "id": "97443972-86a8-45b3-870a-8680cee2182d"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block downward towards the purple peg on the wooden base."}, {"label": "goal", "start_step": 876, "end_step": 1030, "id": "334e6e29-3371-46bf-b53c-1f4fe54bee45"}, {"label": "subtasks", "start_step": 908, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg by pressing it down along the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the white cylindrical block on the table surface."}, {"label": "goal", "start_step": 1031, "end_step": 1160, "id": "6e285065-4a70-4f8c-b08a-1efdcc804603"}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upwards away from the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple rod of the wooden base."}, {"label": "goal", "start_step": 1161, "end_step": 1265, "id": "c4e0b93c-d1bb-4dc2-9314-e2a8d3df7953"}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block fitted onto the purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the black tabletop."}, {"label": "goal", "start_step": 1266, "end_step": 1405, "id": "c7e070a8-76d0-4aa1-9d31-2f78687e5f3c"}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward to the area above the wooden peg rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the green cubic block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1406, "end_step": 1545, "id": "89521914-ab57-447f-bbc5-e77e8dca677a"}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the dark table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 1546, "end_step": 1705, "id": "6c6bbcbd-6c9e-4ed4-8fbf-4b0617d345c3"}, {"label": "subtasks", "start_step": 1575, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning and lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the rod of the wooden base."}, {"label": "goal", "start_step": 1706, "end_step": 1810, "id": "9af20c15-770a-4775-b7bb-23ceef6fbefa"}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black table."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the black table."}, {"label": "goal", "start_step": 1811, "end_step": 2015, "id": "b793316d-c67b-4e68-8f68-7c0456f22dec"}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white cylindrical block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block fitted on the purple rod."}, {"label": "goal", "start_step": 2016, "end_step": 2170, "id": "73f987be-cf45-42c6-92eb-66d09df0369a"}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it toward the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table in front of the wooden rack."}, {"label": "goal", "start_step": 2171, "end_step": 2440, "id": "67e8f505-0d3f-47e9-bfc5-d553c89c3ab4"}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up off the table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2325, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2408, "end_step": 2429, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden rack after releasing the block."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2441, "end_step": 2550, "id": "04f498ac-7979-4385-bbb2-43246f448246"}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the grey table."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the grey table."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the black table surface without moving."}, {"label": "goal", "start_step": 2551, "end_step": 3315, "id": "c55d2b85-46cb-4739-b620-5639f2d1e6c9"}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up away from the table surface."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2595, "end_step": 2819, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 2820, "end_step": 2901, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downwards along the pillar to fit it tightly."}, {"label": "subtasks", "start_step": 2902, "end_step": 2947, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block downwards from the pillar back to the table surface."}, {"label": "subtasks", "start_step": 2948, "end_step": 3074, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green block placed on the table surface."}, {"label": "subtasks", "start_step": 3075, "end_step": 3089, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up away from the table surface again."}, {"label": "subtasks", "start_step": 3090, "end_step": 3104, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar with purple top again."}, {"label": "subtasks", "start_step": 3105, "end_step": 3231, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white pillar and inserts it onto the pillar again."}, {"label": "subtasks", "start_step": 3232, "end_step": 3329, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downwards along the pillar to fix it stably."}, {"label": "home", "start_step": 3366, "end_step": 3396, "id": "BBWw27Hh2MtiGxNstt_F1"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the leftmost white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the leftmost white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white cylindrical block upwards away from the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cube upwards away from the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cube to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube with the purple peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the purple peg without any movement."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the leftmost purple post of the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves down from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg board area towards the leftmost white hexagonal block on the table, without contacting the block."}, {"label": "subtasks", "start_step": 660, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the leftmost white hexagonal block, fingers close and adjust slightly to form a stable grip on the block."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block slightly upwards off the table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block downward towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg by pressing it down along the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upwards away from the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block fitted onto the purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward to the area above the wooden peg rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the green cubic block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the dark table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1575, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning and lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the rod of the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black table."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the black table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white cylindrical block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it toward the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up off the table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2325, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2408, "end_step": 2429, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden rack after releasing the block."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the grey table."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the grey table."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up away from the table surface."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2595, "end_step": 2819, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 2820, "end_step": 2901, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downwards along the pillar to fit it tightly."}, {"label": "subtasks", "start_step": 2902, "end_step": 2947, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block downwards from the pillar back to the table surface."}, {"label": "subtasks", "start_step": 2948, "end_step": 3074, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green block placed on the table surface."}, {"label": "subtasks", "start_step": 3075, "end_step": 3089, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up away from the table surface again."}, {"label": "subtasks", "start_step": 3090, "end_step": 3104, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar with purple top again."}, {"label": "subtasks", "start_step": 3105, "end_step": 3231, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white pillar and inserts it onto the pillar again."}, {"label": "subtasks", "start_step": 3232, "end_step": 3329, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downwards along the pillar to fix it stably."}], "episode_index": 22}
+{"source_uid": "aa053254c1ea3ade", "num_frames": 4088, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: idle: Right hand remains empty at the right side of the table with no observable movement."}, {"label": "goal", "start_step": 0, "end_step": 230, "id": "65a72e5e-c1c9-47ef-acf2-b608a9aa6933"}, {"label": "valid", "start_step": 0, "end_step": 4055, "id": "laMxiDFuO59wMNbH6GDBe"}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block near the wooden assembly base, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 98, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block, making small continuous adjustments to finger contact points and wrist position to establish a stable grip, while the block stays resting on the table surface."}, {"label": "goal", "start_step": 231, "end_step": 390, "id": "82561307-1c74-43af-b17b-0d20e74c3b68"}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand moves vertically upward to lift the gripped green hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 308, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the leftmost purple peg, fits the block onto the peg while making small positional adjustments to maintain alignment, and lowers the block to rest stably on the wooden base surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand grips the green hexagonal block on the purple post and pulls it toward the camera until the block is completely separated from the post and the wooden base."}, {"label": "goal", "start_step": 391, "end_step": 555, "id": "7e3fd71b-e797-4249-8c45-667abff086eb"}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the camera to the position above the target white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place: Right hand adjusts the position of the green hexagonal block and lowers it onto the target white hexagonal block until the block is supported by the target."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 556, "end_step": 850, "id": "6f7de6b2-3493-4f28-8d86-70c104e6403c"}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the stably grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block toward the purple vertical post mounted on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 839, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical post and fits the block onto the post with slight positional adjustments."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg of the wooden base, with the block positioned above the green block on the same peg, no observable movement of hand or block."}, {"label": "goal", "start_step": 851, "end_step": 1090, "id": "a0be9a2d-59c3-41b1-9576-9ff46d451d11"}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reorient: Right hand rotates the held white hexagonal block slightly to align its central hole with the purple peg, with a small upward shift along the peg during adjustment."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand moves the white hexagonal block straight down along the purple peg until the block rests stably on the green block below, fingers opening to release grip on the block at the end of the movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves empty downward from the wooden peg base toward the leftmost white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block on the black table surface, adjusting finger position to establish a stable grip, with the block remaining on the table surface."}, {"label": "goal", "start_step": 1091, "end_step": 1310, "id": "4614e8b5-da78-428f-9aff-ca86c84e7389"}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the unoccupied purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1281, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand adjusts the orientation and position of the held white hexagonal block to align its central hole with the purple rod, lowering the block slightly to fit it onto the rod and establish an assembly connection."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod until the block rests stably on the top surface of the green block mounted on the wooden base, fully supported by the green block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the leftmost peg of the wooden stand to establish a stable grip, with the block remaining on the peg."}, {"label": "goal", "start_step": 1311, "end_step": 1435, "id": "48f627ae-46b9-416b-bf2a-72a67ab2c153"}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand moves the grasped white hexagonal block off the wooden peg and downward to the position above the table surface near the front of the wooden stand."}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place: Right hand lowers the white hexagonal block onto the table surface, setting it down to be fully supported by the table."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the placed white hexagonal block on the table surface with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal block resting on the table near the wooden assembly base."}, {"label": "goal", "start_step": 1436, "end_step": 1555, "id": "ea4cb55c-9fd0-480e-bfba-c5a2f549d2ab"}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg, making small positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the purple rod on the wooden assembly base, opens fingers to release the block."}, {"label": "goal", "start_step": 1556, "end_step": 1670, "id": "346e11c2-96c6-4d99-94c0-764c4e97c84c"}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block located on the table surface near the wooden base."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers gradually to establish a stable grasp with minor contact adjustments."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand holds the green hexagonal block with closed fingers and lifts the block vertically upward from the dark table surface until the block is fully off the table."}, {"label": "goal", "start_step": 1671, "end_step": 1790, "id": "eb98a27d-8276-4aa3-a7d1-9dc9f508902f"}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport_mate: Right hand carries the lifted green hexagonal block upward and forward toward the purple rod on the wooden assembly base, aligns the block's central hole with the rod, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted onto the purple rod on the wooden base, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the white hexagonal block on the dark work surface while remaining empty."}, {"label": "goal", "start_step": 1791, "end_step": 1915, "id": "dbe7de8a-aa47-46fd-952e-21dd4e74d4c5"}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the work surface, making slight adjustments to finger positions to form a grip on the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark work surface without observable movement."}, {"label": "goal", "start_step": 1916, "end_step": 2075, "id": "11d6a7b0-1eb7-4c05-a652-5f10b1d05c35"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark work surface and transports it upward toward the empty purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1950, "end_step": 2061, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the empty purple peg on the wooden base, adjusting position slightly as it lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2062, "end_step": 2069, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release_retreat: Right hand opens its fingers to release the white hexagonal block seated on the purple peg, moving away from the assembled block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the top peg of the stacked block assembly, releasing the block as it becomes fully supported by the peg."}, {"label": "goal", "start_step": 2076, "end_step": 2240, "id": "670fcf8b-fd4d-41fc-a4de-8ccacd8ceb77"}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the small white hexagonal block resting on the table adjacent to the wooden base, with fingers held in an open position."}, {"label": "subtasks", "start_step": 2130, "end_step": 2234, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, closing fingers and making small positional adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward to the position above the purple rod on the wooden block base."}, {"label": "goal", "start_step": 2241, "end_step": 2380, "id": "384c5ffd-69f0-482a-b22d-3ef09fea95ec"}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2302, "end_step": 2369, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any visible movement or adjustment."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand holds the purple rod, lowers it toward the white holder on the wooden base and releases the rod to let it settle into the holder."}, {"label": "goal", "start_step": 2381, "end_step": 2500, "id": "76efdc8c-cdd3-43d9-be95-7ec3d9964c7d"}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the dark table surface, with fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 2430, "end_step": 2459, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut on the dark table surface without any visible movement of the hand or the gripped nut."}, {"label": "goal", "start_step": 2501, "end_step": 2625, "id": "9f2e20eb-dc30-4821-bcc9-16ebc3fa1394"}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the small white block completely off the table surface and moves it upward toward the stacked block assembly on the light wooden base."}, {"label": "subtasks", "start_step": 2550, "end_step": 2624, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the small white block with the target position on the top of the stacked blocks and fits it into the assembly, making slight positional adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 2625, "end_step": 2684, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward from the area adjacent to the stacked bottle assembly toward the green cubic block on the dark table surface, making no contact with the block during movement."}, {"label": "goal", "start_step": 2626, "end_step": 2745, "id": "533f4993-4e1b-419e-b28a-6f97c43e1888"}, {"label": "subtasks", "start_step": 2685, "end_step": 2744, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp_lift: Right hand makes contact with the green cubic block on the table, closes fingers and adjusts position to form a firm grip around the block while raising the block slightly from the table surface."}, {"label": "subtasks", "start_step": 2745, "end_step": 2767, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand holds the green hexagonal block resting on the black work surface and lifts it upward until the block is fully separated from the supporting surface."}, {"label": "goal", "start_step": 2746, "end_step": 2890, "id": "3f37ab6a-4aa1-4d47-ad8f-e7667f77aa28"}, {"label": "subtasks", "start_step": 2768, "end_step": 2797, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block upward and toward the wooden block rack, moving the block to the position directly above the purple cylindrical peg on the rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2894, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand makes small positional adjustments to the green hexagonal block, aligning its central hole with the purple cylindrical peg below to attempt nesting the block onto the peg."}, {"label": "home", "start_step": 4056, "end_step": 4087, "id": "mBcw6TG8ILBHRTL5sh9SK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: idle: Right hand remains empty at the right side of the table with no observable movement."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block near the wooden assembly base, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 98, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block, making small continuous adjustments to finger contact points and wrist position to establish a stable grip, while the block stays resting on the table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand moves vertically upward to lift the gripped green hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 308, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the leftmost purple peg, fits the block onto the peg while making small positional adjustments to maintain alignment, and lowers the block to rest stably on the wooden base surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand grips the green hexagonal block on the purple post and pulls it toward the camera until the block is completely separated from the post and the wooden base."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the camera to the position above the target white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place: Right hand adjusts the position of the green hexagonal block and lowers it onto the target white hexagonal block until the block is supported by the target."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the stably grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block toward the purple vertical post mounted on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 839, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical post and fits the block onto the post with slight positional adjustments."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg of the wooden base, with the block positioned above the green block on the same peg, no observable movement of hand or block."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reorient: Right hand rotates the held white hexagonal block slightly to align its central hole with the purple peg, with a small upward shift along the peg during adjustment."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand moves the white hexagonal block straight down along the purple peg until the block rests stably on the green block below, fingers opening to release grip on the block at the end of the movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves empty downward from the wooden peg base toward the leftmost white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block on the black table surface, adjusting finger position to establish a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the unoccupied purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1281, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand adjusts the orientation and position of the held white hexagonal block to align its central hole with the purple rod, lowering the block slightly to fit it onto the rod and establish an assembly connection."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod until the block rests stably on the top surface of the green block mounted on the wooden base, fully supported by the green block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the leftmost peg of the wooden stand to establish a stable grip, with the block remaining on the peg."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand moves the grasped white hexagonal block off the wooden peg and downward to the position above the table surface near the front of the wooden stand."}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place: Right hand lowers the white hexagonal block onto the table surface, setting it down to be fully supported by the table."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the placed white hexagonal block on the table surface with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal block resting on the table near the wooden assembly base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg, making small positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the purple rod on the wooden assembly base, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block located on the table surface near the wooden base."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers gradually to establish a stable grasp with minor contact adjustments."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand holds the green hexagonal block with closed fingers and lifts the block vertically upward from the dark table surface until the block is fully off the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport_mate: Right hand carries the lifted green hexagonal block upward and forward toward the purple rod on the wooden assembly base, aligns the block's central hole with the rod, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted onto the purple rod on the wooden base, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the white hexagonal block on the dark work surface while remaining empty."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the work surface, making slight adjustments to finger positions to form a grip on the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark work surface without observable movement."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark work surface and transports it upward toward the empty purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1950, "end_step": 2061, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the empty purple peg on the wooden base, adjusting position slightly as it lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2062, "end_step": 2069, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release_retreat: Right hand opens its fingers to release the white hexagonal block seated on the purple peg, moving away from the assembled block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the top peg of the stacked block assembly, releasing the block as it becomes fully supported by the peg."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the small white hexagonal block resting on the table adjacent to the wooden base, with fingers held in an open position."}, {"label": "subtasks", "start_step": 2130, "end_step": 2234, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, closing fingers and making small positional adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2302, "end_step": 2369, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any visible movement or adjustment."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand holds the purple rod, lowers it toward the white holder on the wooden base and releases the rod to let it settle into the holder."}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the dark table surface, with fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 2430, "end_step": 2459, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut on the dark table surface without any visible movement of the hand or the gripped nut."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the small white block completely off the table surface and moves it upward toward the stacked block assembly on the light wooden base."}, {"label": "subtasks", "start_step": 2550, "end_step": 2624, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the small white block with the target position on the top of the stacked blocks and fits it into the assembly, making slight positional adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 2625, "end_step": 2684, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward from the area adjacent to the stacked bottle assembly toward the green cubic block on the dark table surface, making no contact with the block during movement."}, {"label": "subtasks", "start_step": 2685, "end_step": 2744, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp_lift: Right hand makes contact with the green cubic block on the table, closes fingers and adjusts position to form a firm grip around the block while raising the block slightly from the table surface."}, {"label": "subtasks", "start_step": 2745, "end_step": 2767, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand holds the green hexagonal block resting on the black work surface and lifts it upward until the block is fully separated from the supporting surface."}, {"label": "subtasks", "start_step": 2768, "end_step": 2797, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block upward and toward the wooden block rack, moving the block to the position directly above the purple cylindrical peg on the rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2894, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand makes small positional adjustments to the green hexagonal block, aligning its central hole with the purple cylindrical peg below to attempt nesting the block onto the peg."}], "episode_index": 23}
+{"source_uid": "d7580cfdb806ba5d", "num_frames": 3013, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table at the left front of the wooden peg rack, with hand empty."}, {"label": "goal", "start_step": 0, "end_step": 215, "id": "f8c38694-0b97-4882-a5eb-8b89ce99172f"}, {"label": "valid", "start_step": 0, "end_step": 2982, "id": "YumHumYpQ3Nm38OqdbxB-"}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the green hexagonal block stationary on the table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward until it leaves the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position above the middle purple peg on the wooden board."}, {"label": "goal", "start_step": 216, "end_step": 375, "id": "4bc53ec7-cc58-4a9b-9fa5-ecab010ab8a5"}, {"label": "subtasks", "start_step": 232, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the green block with the middle purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate_release: Right hand lowers the green cube along the leftmost purple peg of the wooden base to complete mating and releases the cube."}, {"label": "goal", "start_step": 376, "end_step": 540, "id": "e0dddbd0-6cc3-464b-b6e9-60ee567ba7f1"}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the tabletop at the upper left of the ground green cube."}, {"label": "subtasks", "start_step": 458, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp_lift: Right hand closes and adjusts fingers to grasp the white hexagonal piece on the tabletop and lifts it slightly off the surface."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves it backward to the position above the purple peg on the pegboard."}, {"label": "goal", "start_step": 541, "end_step": 655, "id": "dbea5dec-2b43-48dd-b882-921107fabce9"}, {"label": "subtasks", "start_step": 562, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down along the peg onto the green base block."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: place_release: Right hand places the white ring onto the leftmost purple peg of the upper wooden rack and releases the grip."}, {"label": "goal", "start_step": 656, "end_step": 795, "id": "d44429ba-657a-494c-8129-3d8748a7bc0d"}, {"label": "subtasks", "start_step": 682, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward to approach the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 735, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table with subtle finger adjustments."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the dark table surface and lifts it off the table."}, {"label": "goal", "start_step": 796, "end_step": 1200, "id": "6f44c8eb-052d-43d9-a662-95fc61ff62e2"}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 1199, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front-left purple peg and inserts it onto the peg with continuous slight downward adjustments."}, {"label": "subtasks", "start_step": 1200, "end_step": 1267, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward from the upper peg assembly area toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1201, "end_step": 1325, "id": "eb55620f-1ce6-4bfb-8ebf-ada533dd81d9"}, {"label": "subtasks", "start_step": 1268, "end_step": 1341, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1326, "end_step": 1460, "id": "e01102e7-719d-4a0a-8208-01fc2bed7bce"}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: place_release: Right hand lowers the white ring along the purple rod on the wooden base and releases it."}, {"label": "goal", "start_step": 1461, "end_step": 1590, "id": "608734d7-7ee4-46da-8337-c8b4aa49afde"}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1604, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1591, "end_step": 1730, "id": "f5f56380-4472-4457-af2f-8428098be0d5"}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it upward to the area above the wooden rack's pegs."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle vertical peg of the wooden rack, lowering the block to fit the peg through its central hole."}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the green hexagonal block on the middle vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the peg above the green block on the wooden base and releases the block."}, {"label": "goal", "start_step": 1731, "end_step": 1870, "id": "1fd417c4-8e62-4b0a-ae0d-4c64a9f575e4"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface below the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1851, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1852, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1871, "end_step": 2080, "id": "0a47c1fb-4150-4e01-92e1-6c8ef3b031c8"}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden peg board with stacked blocks."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with a vertical peg on the board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1942, "end_step": 2069, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: place_release: Right hand places the white ring onto the purple vertical peg of the wooden base and releases it."}, {"label": "goal", "start_step": 2081, "end_step": 2190, "id": "1055d81e-302f-474f-89e9-2b3d457bccb8"}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2168, "end_step": 2189, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the table surface next to the wooden tray."}, {"label": "goal", "start_step": 2191, "end_step": 2380, "id": "89df9fab-0a13-4ac0-8385-e33c3b08427b"}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: transport: Right hand transports the white cylindrical block to the position above the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 2242, "end_step": 2339, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2340, "end_step": 2369, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand pushes the white hexagonal block down along the purple rod on the wooden base to fit it into assembled position."}, {"label": "goal", "start_step": 2381, "end_step": 2495, "id": "db5b00d5-8f36-43ef-a893-59280fba22b3"}, {"label": "subtasks", "start_step": 2385, "end_step": 2391, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2392, "end_step": 2421, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2451, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white cubic object with a hole on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2496, "end_step": 2630, "id": "64dd97c0-7612-4cae-9689-d2ba7c0acb38"}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the white cubic object off the table and transports it toward the rack with the purple rod."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white cubic object with the purple rod on the rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2565, "end_step": 2624, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white cubic object on the purple rod without moving."}, {"label": "subtasks", "start_step": 2625, "end_step": 2654, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate_release: Right hand mates the purple component into the hole of the rightmost white cylindrical block on the wooden base and releases the component."}, {"label": "goal", "start_step": 2631, "end_step": 2785, "id": "ce75f116-ea19-4e17-af92-a7f789f31a98"}, {"label": "subtasks", "start_step": 2655, "end_step": 2699, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2767, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2768, "end_step": 2774, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the green cubic block up from the table surface."}, {"label": "subtasks", "start_step": 2775, "end_step": 2819, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it to the position above the target bottle on the wooden tray."}, {"label": "goal", "start_step": 2786, "end_step": 2940, "id": "953bc25b-2aef-44ac-bb78-cc7c4979d583"}, {"label": "subtasks", "start_step": 2820, "end_step": 2909, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand mates the green block with the purple pin on the white bottle by aligning and fitting the block onto the pin."}, {"label": "subtasks", "start_step": 2910, "end_step": 2931, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: release: Right hand releases the green block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2932, "end_step": 2954, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: retreat: Right hand retreats upward away from the green block placed on the bottle."}, {"label": "home", "start_step": 2983, "end_step": 3012, "id": "fWdS3UhajlaJTSYUhVrb7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table at the left front of the wooden peg rack, with hand empty."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the green hexagonal block stationary on the table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward until it leaves the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position above the middle purple peg on the wooden board."}, {"label": "subtasks", "start_step": 232, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the green block with the middle purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate_release: Right hand lowers the green cube along the leftmost purple peg of the wooden base to complete mating and releases the cube."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the tabletop at the upper left of the ground green cube."}, {"label": "subtasks", "start_step": 458, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp_lift: Right hand closes and adjusts fingers to grasp the white hexagonal piece on the tabletop and lifts it slightly off the surface."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves it backward to the position above the purple peg on the pegboard."}, {"label": "subtasks", "start_step": 562, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down along the peg onto the green base block."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: place_release: Right hand places the white ring onto the leftmost purple peg of the upper wooden rack and releases the grip."}, {"label": "subtasks", "start_step": 682, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward to approach the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 735, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table with subtle finger adjustments."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the dark table surface and lifts it off the table."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 1199, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front-left purple peg and inserts it onto the peg with continuous slight downward adjustments."}, {"label": "subtasks", "start_step": 1200, "end_step": 1267, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward from the upper peg assembly area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1341, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: place_release: Right hand lowers the white ring along the purple rod on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1604, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it upward to the area above the wooden rack's pegs."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle vertical peg of the wooden rack, lowering the block to fit the peg through its central hole."}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the green hexagonal block on the middle vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the peg above the green block on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface below the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1851, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1852, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden peg board with stacked blocks."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with a vertical peg on the board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1942, "end_step": 2069, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: place_release: Right hand places the white ring onto the purple vertical peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2168, "end_step": 2189, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the table surface next to the wooden tray."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: transport: Right hand transports the white cylindrical block to the position above the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 2242, "end_step": 2339, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2340, "end_step": 2369, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand pushes the white hexagonal block down along the purple rod on the wooden base to fit it into assembled position."}, {"label": "subtasks", "start_step": 2385, "end_step": 2391, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2392, "end_step": 2421, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2451, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white cubic object with a hole on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the white cubic object off the table and transports it toward the rack with the purple rod."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white cubic object with the purple rod on the rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2565, "end_step": 2624, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white cubic object on the purple rod without moving."}, {"label": "subtasks", "start_step": 2625, "end_step": 2654, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate_release: Right hand mates the purple component into the hole of the rightmost white cylindrical block on the wooden base and releases the component."}, {"label": "subtasks", "start_step": 2655, "end_step": 2699, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2767, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2768, "end_step": 2774, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the green cubic block up from the table surface."}, {"label": "subtasks", "start_step": 2775, "end_step": 2819, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it to the position above the target bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2820, "end_step": 2909, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand mates the green block with the purple pin on the white bottle by aligning and fitting the block onto the pin."}, {"label": "subtasks", "start_step": 2910, "end_step": 2931, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: release: Right hand releases the green block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2932, "end_step": 2954, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: retreat: Right hand retreats upward away from the green block placed on the bottle."}], "episode_index": 24}
+{"source_uid": "5e1db40d08904c29", "num_frames": 2454, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the purple rod on the right side of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 205, "id": "c4b10eb5-0e31-4fdb-913c-27c68a729e78"}, {"label": "valid", "start_step": 0, "end_step": 2422, "id": "pwo4AsANabP2MTooSV1e5"}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the purple rod on the right side of the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the grasped purple rod downward to remove it from the hole on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green block on the table surface in front of the wooden base."}, {"label": "goal", "start_step": 206, "end_step": 320, "id": "6a46bdf1-9fd1-42b3-910e-e450ac379c96"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg until it is fully seated on the base."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 321, "end_step": 465, "id": "ab7857dc-2e16-4039-b646-d420fc1c63c5"}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 466, "end_step": 565, "id": "bba604f1-4e0c-4518-a4a0-129c78ef8992"}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the purple peg."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple peg, inserts it onto the peg and presses downward to secure the block."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 566, "end_step": 700, "id": "12381c2e-5869-4836-831b-fbf79aa2865a"}, {"label": "subtasks", "start_step": 608, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 701, "end_step": 885, "id": "e745affc-363f-4116-aadb-63892ba3c7c6"}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting its position to fit properly onto the rod."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white cylindrical block and moves to the position above the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 886, "end_step": 1090, "id": "0adb454e-0d43-4373-ac23-eea5f1bd28d2"}, {"label": "subtasks", "start_step": 915, "end_step": 1064, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block that is already placed on the purple vertical rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the table in front of the wooden base."}, {"label": "goal", "start_step": 1091, "end_step": 1205, "id": "c8f61bd1-e424-4b70-b50e-38ddfc6b83ae"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down onto the purple rod to secure its position."}, {"label": "subtasks", "start_step": 1200, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube placed on the black tabletop."}, {"label": "goal", "start_step": 1206, "end_step": 1315, "id": "769e4db8-97a6-462b-8f1d-7ad716eea2c0"}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cube on the tabletop, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1316, "end_step": 1435, "id": "df2d0cb2-726b-49f5-a4f2-6e07a519c99a"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and moves it toward the pegboard."}, {"label": "subtasks", "start_step": 1350, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg on the pegboard and inserts it to complete assembly."}, {"label": "goal", "start_step": 1436, "end_step": 1540, "id": "b5f63f72-cac4-4e2c-b6b5-e1fb40a2d1aa"}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form stable contact."}, {"label": "goal", "start_step": 1541, "end_step": 1675, "id": "029d3229-f590-4525-9c52-300c36fbf183"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the tabletop and transports it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand presses the white cylindrical object down onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the stacked blocks on the wooden base."}, {"label": "goal", "start_step": 1676, "end_step": 1760, "id": "d25d88f8-f3d7-44e1-8f11-6304badd1f19"}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1761, "end_step": 1880, "id": "36b0a510-055b-46ca-b91d-c3963d083c74"}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple rod to complete assembly."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white cylindrical block and retreats slightly from the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg of the wooden rack."}, {"label": "goal", "start_step": 1881, "end_step": 1990, "id": "b6dce445-5dff-45c6-aeb6-9517e8415457"}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1991, "end_step": 2125, "id": "be862be8-44cd-440a-9106-6a277abcabeb"}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the black table and moves it above the wooden block tray."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder into the empty slot on the wooden block tray."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylinder onto the peg of the wooden rack and releases the cylinder."}, {"label": "goal", "start_step": 2126, "end_step": 2240, "id": "5941a177-b00f-45f7-8a4d-a12f65374f3e"}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2182, "end_step": 2257, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2241, "end_step": 2370, "id": "e66dc84f-4b50-45c5-8b7a-d2837e195051"}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it towards the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 2288, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the green block with the target white post on the wooden rack, inserts it onto the post and presses down to fit the block in position."}, {"label": "home", "start_step": 2423, "end_step": 2453, "id": "2mbdC8gghxmaXuLPcmk_P"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the purple rod on the right side of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the purple rod on the right side of the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the grasped purple rod downward to remove it from the hole on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green block on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg until it is fully seated on the base."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the purple peg."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple peg, inserts it onto the peg and presses downward to secure the block."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting its position to fit properly onto the rod."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white cylindrical block and moves to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1064, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block that is already placed on the purple vertical rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down onto the purple rod to secure its position."}, {"label": "subtasks", "start_step": 1200, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube placed on the black tabletop."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cube on the tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and moves it toward the pegboard."}, {"label": "subtasks", "start_step": 1350, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg on the pegboard and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form stable contact."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the tabletop and transports it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand presses the white cylindrical object down onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple rod to complete assembly."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white cylindrical block and retreats slightly from the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the black table and moves it above the wooden block tray."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder into the empty slot on the wooden block tray."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylinder onto the peg of the wooden rack and releases the cylinder."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2182, "end_step": 2257, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it towards the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 2288, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the green block with the target white post on the wooden rack, inserts it onto the post and presses down to fit the block in position."}], "episode_index": 25}
+{"source_uid": "89de417331e3b081", "num_frames": 2514, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 127, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from its initial upper right position downward and leftward toward the green hexagonal block adjacent to the wooden block base, with fingers kept open, remaining empty as it approaches the target block."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "f2e1473a-c171-4bdd-bce1-41fc8526fba1"}, {"label": "valid", "start_step": 0, "end_step": 2483, "id": "HQcG4Rnzw5mXyCiuE8sLc"}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table surface, making small finger and wrist adjustments to establish a firm grasp on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no visible movement of the hand, fingers or the grasped block."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp around the green hexagonal block resting on the dark work surface."}, {"label": "goal", "start_step": 181, "end_step": 390, "id": "071acc0b-d440-4765-ba00-804107da4ea6"}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark work surface and moves it upward to position it above the purple assembly peg."}, {"label": "subtasks", "start_step": 255, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the green hexagonal block to align with the purple assembly peg, slides the block down the peg to fit onto the assembly."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the green hexagonal block and moves it downward to place it onto the leftmost purple peg of the wooden assembly base."}, {"label": "goal", "start_step": 391, "end_step": 525, "id": "b4d955cf-1fb6-4ba9-b881-207ffcaab26b"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block that rests on the purple peg."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward empty toward the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 458, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its finger positions and closes fingers around the leftmost white hexagonal block on the table to form a grip."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface and lifts the block upward until it fully separates from the table."}, {"label": "goal", "start_step": 526, "end_step": 655, "id": "24bb781d-f71a-464b-8bca-73ecfeee9ac6"}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, slides the block down the rod, and presses the block gently to seat it on the green base block with small grip adjustments during movement."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the green base over the purple rod, releasing the block as it becomes fully supported."}, {"label": "goal", "start_step": 656, "end_step": 755, "id": "24363606-55cd-4bd0-a899-22a913688696"}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward to approach the leftmost white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block, making small positional adjustments of the fingers to establish firm contact with the block."}, {"label": "goal", "start_step": 756, "end_step": 890, "id": "b16ba5f7-775d-41f6-95f9-ee4423e05bf0"}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the dark table surface and transports it upward to position the object directly above an empty purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 810, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal object with the empty purple peg on the wooden assembly rack and lowers the object to fit onto the peg, making small adjustments to seat the object properly."}, {"label": "goal", "start_step": 891, "end_step": 1015, "id": "b2161b0c-733e-4b28-863a-67e60beee7f4"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table surface in front of the base board."}, {"label": "subtasks", "start_step": 952, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small positional adjustments of the fingers and wrist to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder upward off the dark table surface."}, {"label": "goal", "start_step": 1016, "end_step": 1130, "id": "330b090b-5b8f-43ac-8292-e7831d020773"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand transports the white hexagonal cylinder upward toward the purple vertical rod mounted on the light wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns and fits the white hexagonal cylinder onto the purple vertical rod on the light wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal cylinder fitted on the purple vertical rod without observable movement."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple rod on the wooden base, opening fingers to release contact with the block."}, {"label": "goal", "start_step": 1131, "end_step": 1215, "id": "494e995d-3a0a-4850-91d6-7d9033472391"}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward toward the left green square block on the dark table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the left green square block on the table, adjusting finger positions and closing fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand holds the green block and lifts it upward until the block fully leaves the dark table surface."}, {"label": "goal", "start_step": 1216, "end_step": 1360, "id": "751eb70d-e10a-431d-aabe-3e787e00c9d1"}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted green block upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1282, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green block assembled on the purple rod without visible movement."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the green holed block and moves it downward to place it onto the purple peg on the wooden pegboard, until the block is supported by the peg."}, {"label": "goal", "start_step": 1361, "end_step": 1485, "id": "ce62ef84-249b-492f-a775-2d8b65be63ca"}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green holed block seated on the purple peg, fully separating from the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward with empty fingers toward the white hexagonal holed block on the black work surface, approaching the target block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal holed block on the work surface, adjusting finger positions to form a stable grasp while the block rests on the surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal holed block upward, moving the block completely off the work surface."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand holds the white hexagonal block, moving upward and leftward to position the block above the purple rod on the wooden stacking base."}, {"label": "goal", "start_step": 1486, "end_step": 1575, "id": "e967f82d-9faa-4f69-ab2f-d9b2b15ffd50"}, {"label": "subtasks", "start_step": 1522, "end_step": 1574, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align it with the purple rod, lowering the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves in a smooth downward-right arc from the top of the stacked wooden peg assembly toward the white hexagonal block on the dark table surface adjacent to the assembly, holding fingers open as it approaches the block."}, {"label": "goal", "start_step": 1576, "end_step": 1755, "id": "af5bed94-ba16-48ba-aef8-690c26077209"}, {"label": "subtasks", "start_step": 1650, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the contacted white hexagonal block, making small adjustments to finger and wrist position to establish a stable grip, while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand moves vertically upward while maintaining grip on the white hexagonal block, lifting the block fully away from contact with the dark table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand holds the white cylindrical block and moves it upward toward the purple rod on the wooden base."}, {"label": "goal", "start_step": 1756, "end_step": 1830, "id": "add76a8a-7493-488f-bc63-f98584496e18"}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod on the wooden base and fits the block down onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white cylindrical block fitted on the purple rod."}, {"label": "goal", "start_step": 1831, "end_step": 1930, "id": "c7d0ac6a-dfbd-4363-b7e2-39c04330c644"}, {"label": "subtasks", "start_step": 1845, "end_step": 1881, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1882, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making small adjustments to form a grip while the nut stays on the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hollow cylindrical object on the black table surface without moving."}, {"label": "goal", "start_step": 1931, "end_step": 2090, "id": "d934bcfb-c2da-43fb-8b01-7bcba9654b66"}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical object off the table surface, moving it upward and leftward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the hole of the white hollow cylindrical object with the purple rod, moving the object downward to sleeve it onto the rod until it rests on the supporting base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2084, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hollow cylindrical object sleeved on the purple rod without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the white cylindrical block and lowers it downward to place it onto the purple vertical rod on the wooden block base, until the block is supported by the rod."}, {"label": "goal", "start_step": 2091, "end_step": 2205, "id": "b9c5992b-0a85-4846-b8e4-5add687a6d40"}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the placed white cylindrical block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty in the down-right direction toward the green square block resting on the black table surface, approaching the block until the index finger makes contact."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the green square block on the table, adjusting finger contact positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2204, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand maintains grip on the green square block and lifts it upward, raising the block completely off the black table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2257, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand holds the green cylindrical block, lifts it off the dark table surface and moves it upward toward the bottle stack on the light wooden base."}, {"label": "goal", "start_step": 2206, "end_step": 2455, "id": "a20023e8-8afd-405a-bebb-6adfcc369fd7"}, {"label": "subtasks", "start_step": 2258, "end_step": 2437, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand makes small positional and slight rotational adjustments to the held green cylindrical block to align it for nesting onto the top of the purple-capped white bottle in the stack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the aligned green cylindrical block onto the top of the target bottle until stably supported, opening fingers to release contact with the block."}, {"label": "home", "start_step": 2484, "end_step": 2513, "id": "WvxHeYKIaDgR0L6qghHCU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 127, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from its initial upper right position downward and leftward toward the green hexagonal block adjacent to the wooden block base, with fingers kept open, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table surface, making small finger and wrist adjustments to establish a firm grasp on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no visible movement of the hand, fingers or the grasped block."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp around the green hexagonal block resting on the dark work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark work surface and moves it upward to position it above the purple assembly peg."}, {"label": "subtasks", "start_step": 255, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the green hexagonal block to align with the purple assembly peg, slides the block down the peg to fit onto the assembly."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the green hexagonal block and moves it downward to place it onto the leftmost purple peg of the wooden assembly base."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block that rests on the purple peg."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward empty toward the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 458, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its finger positions and closes fingers around the leftmost white hexagonal block on the table to form a grip."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface and lifts the block upward until it fully separates from the table."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, slides the block down the rod, and presses the block gently to seat it on the green base block with small grip adjustments during movement."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the green base over the purple rod, releasing the block as it becomes fully supported."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward to approach the leftmost white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block, making small positional adjustments of the fingers to establish firm contact with the block."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the dark table surface and transports it upward to position the object directly above an empty purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 810, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal object with the empty purple peg on the wooden assembly rack and lowers the object to fit onto the peg, making small adjustments to seat the object properly."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table surface in front of the base board."}, {"label": "subtasks", "start_step": 952, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small positional adjustments of the fingers and wrist to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder upward off the dark table surface."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand transports the white hexagonal cylinder upward toward the purple vertical rod mounted on the light wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns and fits the white hexagonal cylinder onto the purple vertical rod on the light wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal cylinder fitted on the purple vertical rod without observable movement."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple rod on the wooden base, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward toward the left green square block on the dark table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the left green square block on the table, adjusting finger positions and closing fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand holds the green block and lifts it upward until the block fully leaves the dark table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted green block upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1282, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green block assembled on the purple rod without visible movement."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the green holed block and moves it downward to place it onto the purple peg on the wooden pegboard, until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green holed block seated on the purple peg, fully separating from the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward with empty fingers toward the white hexagonal holed block on the black work surface, approaching the target block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal holed block on the work surface, adjusting finger positions to form a stable grasp while the block rests on the surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal holed block upward, moving the block completely off the work surface."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand holds the white hexagonal block, moving upward and leftward to position the block above the purple rod on the wooden stacking base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1574, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align it with the purple rod, lowering the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves in a smooth downward-right arc from the top of the stacked wooden peg assembly toward the white hexagonal block on the dark table surface adjacent to the assembly, holding fingers open as it approaches the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the contacted white hexagonal block, making small adjustments to finger and wrist position to establish a stable grip, while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand moves vertically upward while maintaining grip on the white hexagonal block, lifting the block fully away from contact with the dark table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand holds the white cylindrical block and moves it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod on the wooden base and fits the block down onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white cylindrical block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1881, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1882, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making small adjustments to form a grip while the nut stays on the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hollow cylindrical object on the black table surface without moving."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical object off the table surface, moving it upward and leftward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the hole of the white hollow cylindrical object with the purple rod, moving the object downward to sleeve it onto the rod until it rests on the supporting base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2084, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hollow cylindrical object sleeved on the purple rod without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the white cylindrical block and lowers it downward to place it onto the purple vertical rod on the wooden block base, until the block is supported by the rod."}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the placed white cylindrical block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty in the down-right direction toward the green square block resting on the black table surface, approaching the block until the index finger makes contact."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the green square block on the table, adjusting finger contact positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2204, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand maintains grip on the green square block and lifts it upward, raising the block completely off the black table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2257, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand holds the green cylindrical block, lifts it off the dark table surface and moves it upward toward the bottle stack on the light wooden base."}, {"label": "subtasks", "start_step": 2258, "end_step": 2437, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand makes small positional and slight rotational adjustments to the held green cylindrical block to align it for nesting onto the top of the purple-capped white bottle in the stack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the aligned green cylindrical block onto the top of the target bottle until stably supported, opening fingers to release contact with the block."}], "episode_index": 26}
+{"source_uid": "3d3a9f0050faa20c", "num_frames": 2424, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_hand: Left hand moves upward and leftward with empty hand, fingers kept extended. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left front of the wooden board, with empty hand."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "931aa604-4a7c-4252-a6a7-c6d1b295105d"}, {"label": "valid", "start_step": 0, "end_step": 2392, "id": "sj9iGn3ugKFnov4b9zwV-"}, {"label": "subtasks", "start_step": 30, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left front of the wooden board, with empty hand."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward from the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the table, with fingers closing to form a stable grip while the block stays on the table surface."}, {"label": "goal", "start_step": 153, "end_step": 288, "id": "e96112a3-7fea-492f-a621-8ffde089199f"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and moves it to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple peg of the wooden base, moving downward to fit the block's hole onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand fits and adjusts blocks onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 289, "end_step": 608, "id": "0675f9c6-80ec-4f24-adf6-18fbfe22d8e5"}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the black table."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the black table with fingers closing."}, {"label": "goal", "start_step": 609, "end_step": 712, "id": "2408f88f-03f4-40bd-9b34-e0b768720031"}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward to the position above the purple peg on the peg board."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg by aligning and lowering it down the peg."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the left purple peg on the wooden base and releases it."}, {"label": "goal", "start_step": 713, "end_step": 864, "id": "c288e16b-df4d-495b-bf04-9c892ebe3422"}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hex ring on the left side of the work surface."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hex ring on the work surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hex ring on the work surface without moving."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hex ring upward from the work surface."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it upward to the position above the target peg on the wooden base."}, {"label": "goal", "start_step": 865, "end_step": 952, "id": "d39b6ddc-461d-47c0-893f-9ea04642c1e8"}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the leftmost purple peg."}, {"label": "goal", "start_step": 953, "end_step": 1040, "id": "200862a8-3025-4aa4-acc3-a7f1381140f8"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the leftmost purple peg and moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1041, "end_step": 1120, "id": "7adde160-5b77-4131-8d32-c5a576d273a1"}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table surface and transports it upward to the position above the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto a purple peg by aligning the block's hole with the peg and lowering the block downward."}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white hexagonal holed block onto the purple vertical peg and releases its grip on the block."}, {"label": "goal", "start_step": 1121, "end_step": 1240, "id": "487967d4-437f-4d95-b8b6-45f3f28e13df"}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal holed block on the dark table surface without making contact."}, {"label": "subtasks", "start_step": 1200, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal holed block on the dark table surface."}, {"label": "goal", "start_step": 1241, "end_step": 1384, "id": "24dca6c5-81f8-49e6-9445-2c09ce3d60d7"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the white peg, lowering it until the block rests on the lower section of the peg."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1385, "end_step": 1472, "id": "512ea83d-9da9-4081-adf4-acbc675fc031"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylinder on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1473, "end_step": 1584, "id": "89d4815f-a7f8-481d-9d95-e5813255bd06"}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it upward and leftward to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and fits it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal sleeve onto the green post of the central block set and releases it."}, {"label": "goal", "start_step": 1585, "end_step": 1720, "id": "3acd1e8d-1578-41b7-b3ac-77487d225f50"}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal sleeve on the table near the central block set."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal sleeve on the table near the central block set, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1702, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal sleeve off the table and moves it leftward."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal column on the table to the right of the wooden base, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1721, "end_step": 1816, "id": "fc531514-b2c0-43ee-a741-656a0e721ac8"}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal column off the table and transports it upward and leftward to the position directly above the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal column onto the purple rod by aligning the hole with the rod and lowering the column downward along the rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base, with fingers opening from a closed position."}, {"label": "goal", "start_step": 1817, "end_step": 1904, "id": "6c906c14-2e51-4ec3-b519-1ec9d30742ea"}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table, moving downward from the wooden base area."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white cubic object on the table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1905, "end_step": 2000, "id": "42621a08-0a5c-4727-bb3b-02627fea4cd5"}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic object off the table and transports it toward the wooden rack with stacked blocks."}, {"label": "subtasks", "start_step": 1958, "end_step": 2024, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white cubic object with the purple rod on the wooden rack and inserts it to complete the assembly."}, {"label": "goal", "start_step": 2001, "end_step": 2120, "id": "41e58c62-d821-492b-ab74-6c7824bed2cb"}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches towards the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp_lift: Right hand grasps the green cube on the dark table surface and lifts it slightly off the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 2121, "end_step": 2224, "id": "5acfce83-e471-45a3-bb1b-22334ba25136"}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block off the table and transports it upward and leftward toward the white block tray."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the white post on the tray and lowers it onto the top of the post."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green hollow block downward along the white post to push it into place."}, {"label": "home", "start_step": 2393, "end_step": 2423, "id": "SfCjoyLjXgkO4DObun7aQ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_hand: Left hand moves upward and leftward with empty hand, fingers kept extended. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left front of the wooden board, with empty hand."}, {"label": "subtasks", "start_step": 30, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left front of the wooden board, with empty hand."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward from the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the table, with fingers closing to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and moves it to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple peg of the wooden base, moving downward to fit the block's hole onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand fits and adjusts blocks onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the black table."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the black table with fingers closing."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward to the position above the purple peg on the peg board."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg by aligning and lowering it down the peg."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the left purple peg on the wooden base and releases it."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hex ring on the left side of the work surface."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hex ring on the work surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hex ring on the work surface without moving."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hex ring upward from the work surface."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it upward to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the leftmost purple peg and moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table surface and transports it upward to the position above the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto a purple peg by aligning the block's hole with the peg and lowering the block downward."}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white hexagonal holed block onto the purple vertical peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal holed block on the dark table surface without making contact."}, {"label": "subtasks", "start_step": 1200, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal holed block on the dark table surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the white peg, lowering it until the block rests on the lower section of the peg."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylinder on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it upward and leftward to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and fits it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal sleeve onto the green post of the central block set and releases it."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal sleeve on the table near the central block set."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal sleeve on the table near the central block set, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1702, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal sleeve off the table and moves it leftward."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal column on the table to the right of the wooden base, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal column off the table and transports it upward and leftward to the position directly above the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal column onto the purple rod by aligning the hole with the rod and lowering the column downward along the rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base, with fingers opening from a closed position."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table, moving downward from the wooden base area."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white cubic object on the table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic object off the table and transports it toward the wooden rack with stacked blocks."}, {"label": "subtasks", "start_step": 1958, "end_step": 2024, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white cubic object with the purple rod on the wooden rack and inserts it to complete the assembly."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches towards the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp_lift: Right hand grasps the green cube on the dark table surface and lifts it slightly off the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block off the table and transports it upward and leftward toward the white block tray."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the white post on the tray and lowers it onto the top of the post."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green hollow block downward along the white post to push it into place."}], "episode_index": 27}
+{"source_uid": "c79cbb2da34eb8e0", "num_frames": 2435, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube at the front left of the wooden base on the table."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "9cc400e9-b973-42fd-8b5f-ec0c9b5d2c5d"}, {"label": "valid", "start_step": 0, "end_step": 2402, "id": "6R7MfUyPxTaBsmdz-FRHD"}, {"label": "subtasks", "start_step": 112, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the green cube at the front left of the wooden base."}, {"label": "goal", "start_step": 181, "end_step": 325, "id": "83a99b43-4c52-4c28-aa44-faf6f1f383e9"}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green block vertically away from the black tabletop."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block upward to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 326, "end_step": 495, "id": "517b3c19-82fd-42f2-a3f0-1fe67afc4b6e"}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it to above the purple peg on the wooden base."}, {"label": "goal", "start_step": 496, "end_step": 615, "id": "92938ec9-b6a6-401f-a64f-194b5796ff49"}, {"label": "subtasks", "start_step": 525, "end_step": 614, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 616, "end_step": 775, "id": "51009226-4695-4151-8a4c-8f6e92e42909"}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand approaches the white hexagonal block, fingers close to establish grasp on the block."}, {"label": "goal", "start_step": 776, "end_step": 970, "id": "01bd3a9c-c0d8-4961-a91a-2cf2113a309c"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 997, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "goal", "start_step": 971, "end_step": 1070, "id": "6f2c03e6-faff-4ff6-ae82-bc647fd9e149"}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the white cylindrical block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "goal", "start_step": 1071, "end_step": 1240, "id": "19cf56a2-79d4-482f-b207-28f8da2ed24e"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block up away from the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white block to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1241, "end_step": 1345, "id": "c6c2706c-82b0-4f6b-b52a-84caf3736d3f"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table surface."}, {"label": "goal", "start_step": 1346, "end_step": 1450, "id": "1e750d6c-b258-4db8-a833-9ddb52e16334"}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the white post on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white post and fits it down onto the post to complete assembly."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block that is fitted on the white post without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1451, "end_step": 1555, "id": "5b1c574c-f00b-462c-8d9b-1ca3afbe6c75"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1500, "end_step": 1567, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the black tabletop."}, {"label": "goal", "start_step": 1556, "end_step": 1655, "id": "67ad79f6-d680-4fe3-91c9-02400be61b1a"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylinder completely off the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the held white cylinder toward the target peg on the wooden base with blocks."}, {"label": "subtasks", "start_step": 1598, "end_step": 1649, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cylinder onto the target peg and adjusts it to be stably positioned on the peg."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the top of the green block on the wooden base plate."}, {"label": "goal", "start_step": 1656, "end_step": 1775, "id": "0a86422c-2f56-46d5-a5de-a48bd2ba33b9"}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white cylindrical sleeve placed on the black table next to the wooden base plate."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical sleeve on the black table."}, {"label": "goal", "start_step": 1776, "end_step": 1900, "id": "3ebddcc6-ebf1-47b6-b8f5-be274a95244e"}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object placed on the purple rod."}, {"label": "goal", "start_step": 1901, "end_step": 2010, "id": "5bba3396-c80c-436c-a36c-ba3f770485a8"}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hollow cylindrical block on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2011, "end_step": 2110, "id": "69503bc0-34ec-4b90-9f6f-6ea1eb984a02"}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden block rack at the center of the frame."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the wooden block rack without moving."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the small cylindrical part on the top of the white block on the wooden tray and releases its grip."}, {"label": "goal", "start_step": 2111, "end_step": 2215, "id": "d7abdda5-4225-4a07-8154-336dab69ad47"}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green cubic block on the dark table surface."}, {"label": "goal", "start_step": 2216, "end_step": 2360, "id": "71a67198-5f7f-4613-ac62-0d38d2963757"}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic object off the table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic object towards the white cylinder rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic object onto the top of the target white cylinder on the wooden rack."}, {"label": "home", "start_step": 2403, "end_step": 2434, "id": "-xzXipIUNZ2L-pNbhAYco"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube at the front left of the wooden base on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the green cube at the front left of the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green block vertically away from the black tabletop."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block upward to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 525, "end_step": 614, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand approaches the white hexagonal block, fingers close to establish grasp on the block."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 997, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the white cylindrical block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block up away from the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white block to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the white post on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white post and fits it down onto the post to complete assembly."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block that is fitted on the white post without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1500, "end_step": 1567, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylinder completely off the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the held white cylinder toward the target peg on the wooden base with blocks."}, {"label": "subtasks", "start_step": 1598, "end_step": 1649, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cylinder onto the target peg and adjusts it to be stably positioned on the peg."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the top of the green block on the wooden base plate."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white cylindrical sleeve placed on the black table next to the wooden base plate."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical sleeve on the black table."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object placed on the purple rod."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hollow cylindrical block on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden block rack at the center of the frame."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the wooden block rack without moving."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the small cylindrical part on the top of the white block on the wooden tray and releases its grip."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic object off the table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic object towards the white cylinder rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic object onto the top of the target white cylinder on the wooden rack."}], "episode_index": 28}
+{"source_uid": "e7e8382715911292", "num_frames": 2178, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves leftward and downward from its initial raised position on the right side toward the green hexagonal block on the table in front of the wooden assembly base, with fingers held open during the movement."}, {"label": "goal", "start_step": 0, "end_step": 150, "id": "fc1ed4d0-8963-4848-b9ba-b4bf9e6d5ad5"}, {"label": "valid", "start_step": 0, "end_step": 2146, "id": "gUpK69Yt_f2hHzTSrubet"}, {"label": "subtasks", "start_step": 82, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table in front of the wooden assembly base, making slight adjustments to finger and wrist positions to establish a grip, with the block remaining on the table surface."}, {"label": "goal", "start_step": 151, "end_step": 305, "id": "7c6c2cee-76c2-4249-a0c1-8b2b25e5653c"}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is fully lifted off the black table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport_mate: Right hand carries the lifted green hexagonal block over to the wooden base, aligns the block's central hole with the left purple peg, and slides the block down onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 218, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the fitted green hexagonal block on the left purple peg of the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 300, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves downward to place the block onto the purple peg on the wooden base, opening fingers to release the block once it is supported by the base."}, {"label": "goal", "start_step": 306, "end_step": 460, "id": "5911b3a2-381a-4daf-97f6-77fa0cc39cc8"}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block resting on the dark table surface, approaching the target object without establishing contact."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger and wrist positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black tabletop and lifts it upward until the nut is fully separated from the table surface."}, {"label": "goal", "start_step": 461, "end_step": 580, "id": "83fe4ab5-b71f-4a20-8ced-7b77c2e764b2"}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward to the position directly above the purple assembly rod on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and slides the nut down the rod to complete the fitting."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple rod without observable movement or adjustment."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden assembly base and moves it downward to fit onto the rod."}, {"label": "goal", "start_step": 581, "end_step": 695, "id": "97cff107-85a6-4332-9379-c583b484dd03"}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward empty away from the wooden base, approaching the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closing and adjusting fingers to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut on the dark table surface, closes fingers to grasp the nut while the nut stays on the table."}, {"label": "goal", "start_step": 696, "end_step": 800, "id": "d098fd3f-af2b-4700-9341-73fddc9dc99e"}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moves it upward to position it directly above the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, lowers the nut to fit it onto the post for nesting assembly."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place: Right hand holds the white hexagonal block and moves downward to place it onto the green block on the leftmost peg of the wooden base, until the block is stably supported by the green block."}, {"label": "goal", "start_step": 801, "end_step": 960, "id": "7a709d04-468b-4051-a936-f4e62f2ad560"}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty in a downward-right direction toward the white hexagonal block placed on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 981, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes fine adjustments to finger positions, closing fingers around the target white hexagonal block on the table, with continuous small wrist and finger movements to adjust contact points for a stable grasp."}, {"label": "goal", "start_step": 961, "end_step": 1060, "id": "edf69a15-d876-4171-9b2a-93e0e49d94f0"}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it to a position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base and lowers it to fit securely onto the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to set the block onto the purple rod on the wooden base, and opens fingers to release grip on the block."}, {"label": "goal", "start_step": 1061, "end_step": 1180, "id": "d13b4ef0-e7e7-4694-8024-17ffa76dea72"}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions to close around the block to form a grip."}, {"label": "goal", "start_step": 1181, "end_step": 1275, "id": "8404b3bb-a228-4019-946b-b8cd9af371c1"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and lowers the block to slide it onto the rod until it contacts the white component below."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand lowers the held green hexagonal block to seat it on the stacked blocks mounted on the wooden peg base, opening fingers to release the supported block."}, {"label": "goal", "start_step": 1276, "end_step": 1385, "id": "2e7f52c6-3945-4cb4-8c5f-dd5d94530ac2"}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves in an empty state downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block positioned on the table, adjusting finger contact points to form a grip on the block."}, {"label": "goal", "start_step": 1386, "end_step": 1495, "id": "dce80bbe-9bc7-4a4d-a3d0-1b1f667be2a6"}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward toward the wooden assembly base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod on the assembly base and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand releases the white hexagonal block on top of the stacked blocks, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1496, "end_step": 1585, "id": "766ed3c2-7eea-498f-a0ba-04c9f1c4c8ad"}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and to the right toward the white hexagonal block adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block adjacent to the wooden block base, adjusting finger positions to form a grip."}, {"label": "goal", "start_step": 1586, "end_step": 1675, "id": "1523fb42-78b1-466c-9483-d4850020a702"}, {"label": "subtasks", "start_step": 1598, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and moves it downward to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate_release: Right hand holds the white hexagonal block, fits it onto the purple rod on the wooden base, and opens fingers to release the block."}, {"label": "goal", "start_step": 1676, "end_step": 1785, "id": "873a508b-1f63-4a2b-bc87-498ddc4f0206"}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand moves the grasped white hexagonal block upward to lift it off the table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand holds the small white cylindrical part and moves it upward and left toward the empty hole on the wooden block rack."}, {"label": "goal", "start_step": 1786, "end_step": 1885, "id": "d372563d-77b5-4312-8c6d-a869bca533f1"}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the small white cylindrical part with the empty hole on the wooden rack and inserts it into the hole."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the inserted white cylindrical part on the wooden rack without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand releases the light purple cylinder on the wooden rack, fingers open and separate from the cylinder."}, {"label": "goal", "start_step": 1886, "end_step": 1985, "id": "295f5fdf-adb4-4aae-882c-9819610680d4"}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the green cube, fingers adjust positions around the cube to form a stable grasp."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the gripped green block vertically upward from the dark gray table surface."}, {"label": "goal", "start_step": 1986, "end_step": 2115, "id": "5cd03a7b-6980-4d0e-b625-9aa1d5b627cb"}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand transports the green block upward and leftward toward the group of bottles placed on the light wooden tray."}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the hollow green block with the top of the bottle with a purple pump, adjusting position to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand places the green block onto the top of the target bottle with fingers opening to release the block."}, {"label": "home", "start_step": 2147, "end_step": 2177, "id": "58NFUHu9Hi2syKsFTKDYE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves leftward and downward from its initial raised position on the right side toward the green hexagonal block on the table in front of the wooden assembly base, with fingers held open during the movement."}, {"label": "subtasks", "start_step": 82, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table in front of the wooden assembly base, making slight adjustments to finger and wrist positions to establish a grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is fully lifted off the black table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport_mate: Right hand carries the lifted green hexagonal block over to the wooden base, aligns the block's central hole with the left purple peg, and slides the block down onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 218, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the fitted green hexagonal block on the left purple peg of the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 300, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves downward to place the block onto the purple peg on the wooden base, opening fingers to release the block once it is supported by the base."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block resting on the dark table surface, approaching the target object without establishing contact."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger and wrist positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black tabletop and lifts it upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward to the position directly above the purple assembly rod on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and slides the nut down the rod to complete the fitting."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple rod without observable movement or adjustment."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden assembly base and moves it downward to fit onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward empty away from the wooden base, approaching the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closing and adjusting fingers to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut on the dark table surface, closes fingers to grasp the nut while the nut stays on the table."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moves it upward to position it directly above the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, lowers the nut to fit it onto the post for nesting assembly."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place: Right hand holds the white hexagonal block and moves downward to place it onto the green block on the leftmost peg of the wooden base, until the block is stably supported by the green block."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty in a downward-right direction toward the white hexagonal block placed on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 981, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes fine adjustments to finger positions, closing fingers around the target white hexagonal block on the table, with continuous small wrist and finger movements to adjust contact points for a stable grasp."}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it to a position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base and lowers it to fit securely onto the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to set the block onto the purple rod on the wooden base, and opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions to close around the block to form a grip."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and lowers the block to slide it onto the rod until it contacts the white component below."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand lowers the held green hexagonal block to seat it on the stacked blocks mounted on the wooden peg base, opening fingers to release the supported block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves in an empty state downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block positioned on the table, adjusting finger contact points to form a grip on the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward toward the wooden assembly base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod on the assembly base and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand releases the white hexagonal block on top of the stacked blocks, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and to the right toward the white hexagonal block adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block adjacent to the wooden block base, adjusting finger positions to form a grip."}, {"label": "subtasks", "start_step": 1598, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and moves it downward to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate_release: Right hand holds the white hexagonal block, fits it onto the purple rod on the wooden base, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand moves the grasped white hexagonal block upward to lift it off the table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand holds the small white cylindrical part and moves it upward and left toward the empty hole on the wooden block rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the small white cylindrical part with the empty hole on the wooden rack and inserts it into the hole."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the inserted white cylindrical part on the wooden rack without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand releases the light purple cylinder on the wooden rack, fingers open and separate from the cylinder."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the green cube, fingers adjust positions around the cube to form a stable grasp."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the gripped green block vertically upward from the dark gray table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand transports the green block upward and leftward toward the group of bottles placed on the light wooden tray."}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the hollow green block with the top of the bottle with a purple pump, adjusting position to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand places the green block onto the top of the target bottle with fingers opening to release the block."}], "episode_index": 29}
+{"source_uid": "beb8831cfe7900e3", "num_frames": 2356, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_arm: Left hand raises upward with empty hand from the left initial position. | Right hand: reach: Right hand moves toward the green hexagonal block on the table near the wooden pegboard with empty hand."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "9bc6c052-3ed3-43bf-be78-1ad08e62671c"}, {"label": "valid", "start_step": 0, "end_step": 2324, "id": "rPd4AKa2wslOB-7XiuvWP"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the table near the wooden pegboard with empty hand."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table in front of the wooden board."}, {"label": "goal", "start_step": 181, "end_step": 285, "id": "a5e00727-39d5-4645-8b62-796f6a6b672a"}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it to above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple peg of the wooden board by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green cubic block on the leftmost purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand fits the green hexagonal block onto the left purple vertical post and releases its grip."}, {"label": "goal", "start_step": 286, "end_step": 480, "id": "05592d7e-97b5-4c81-a6c1-d74b28b35642"}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: retreat: Right hand moves upward slightly away from the green block on the purple post."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left side of the black table."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 481, "end_step": 590, "id": "163a1991-5644-48b2-91f1-80fd84af038b"}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table while moving it upward to the position above the leftmost purple peg on the green base."}, {"label": "subtasks", "start_step": 510, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_place: Right hand fits the white hexagonal block onto the leftmost purple peg while lowering it until it is supported by the green base."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 591, "end_step": 700, "id": "fef80349-3267-4dcf-817e-972809d55b4d"}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white hexagonal piece on the leftmost purple peg, with fingers opening."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal piece on the table, with fingers closing around it."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the left white hexagonal piece on the table without moving."}, {"label": "goal", "start_step": 701, "end_step": 820, "id": "651e534f-514d-4328-87cf-c7c8f745897a"}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it upward to the position above the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left purple peg without moving."}, {"label": "goal", "start_step": 821, "end_step": 915, "id": "bcb2ed8b-7048-49c3-8357-024b8480b5a8"}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the left purple peg while moving upward away from the peg."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table above the green block."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table above the green block with fingers closing."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table above the green block without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table, fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 916, "end_step": 1205, "id": "39c6f40e-c116-4a9c-ac30-baa046139dc5"}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is fully off the dark table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1011, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the middle purple peg and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the middle purple peg and releases the block."}, {"label": "goal", "start_step": 1206, "end_step": 1320, "id": "dea770fc-428d-43ff-ac11-eeb1ad229847"}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers closing and adjusting around it."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the dark table surface."}, {"label": "goal", "start_step": 1321, "end_step": 1470, "id": "3c324cce-2020-48f8-bc62-4cecb489421e"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the green cubic block upward and leftward to the position above the vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand lowers the green cubic block and mates it onto the vertical peg of the wooden rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green cubic block on the vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple vertical post on the wooden base and releases the block."}, {"label": "goal", "start_step": 1471, "end_step": 1555, "id": "e8722d6e-3eb5-4260-90b0-93ae25dd3fa5"}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1556, "end_step": 1675, "id": "adb61683-8de4-4816-8743-7bc183dae6c1"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1598, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the green block's peg on the wooden base, lowering the cylinder onto the peg."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the green block's peg without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white cylindrical block on the top of the purple rod, with fingers opening gradually."}, {"label": "goal", "start_step": 1676, "end_step": 1765, "id": "5ded88f4-2419-404c-8faf-82669b7756df"}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hollow cylindrical block on the black tabletop next to the wooden base without moving."}, {"label": "goal", "start_step": 1766, "end_step": 1850, "id": "9819ab0c-db8c-44a6-8e50-ffcf99160117"}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block from the tabletop and transports it upward and leftward to the position right above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hollow cylindrical block with the purple rod by lowering it to fit the block's hole over the purple rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod of the wooden rack, with fingers opening."}, {"label": "goal", "start_step": 1851, "end_step": 1935, "id": "149201f9-501f-42e8-8afa-c754111d70b1"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1936, "end_step": 2040, "id": "301967f1-0243-44ea-be48-a8238e86c923"}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the wooden peg rack at the back of the table."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the rightmost peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white cylindrical block on the rightmost peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward from the bottle rack area toward the green cubic object on the table, without making contact with the target."}, {"label": "goal", "start_step": 2041, "end_step": 2140, "id": "0007d965-7e10-4bab-83fc-255577a19f2b"}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand makes contact with the green cubic object on the table, and adjusts its fingers to form a stable grasp."}, {"label": "goal", "start_step": 2141, "end_step": 2295, "id": "f01fa2a2-3f2b-4595-b66f-3f8cd8506e84"}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the white rack with bottles."}, {"label": "subtasks", "start_step": 2190, "end_step": 2309, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand aligns and fits the green cubic block onto the target bottle on the rack, then releases the block."}, {"label": "home", "start_step": 2325, "end_step": 2355, "id": "9_R2SV8MxVSi5bziX_Fno"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_arm: Left hand raises upward with empty hand from the left initial position. | Right hand: reach: Right hand moves toward the green hexagonal block on the table near the wooden pegboard with empty hand."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the table near the wooden pegboard with empty hand."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table in front of the wooden board."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it to above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple peg of the wooden board by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green cubic block on the leftmost purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand fits the green hexagonal block onto the left purple vertical post and releases its grip."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: retreat: Right hand moves upward slightly away from the green block on the purple post."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left side of the black table."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table while moving it upward to the position above the leftmost purple peg on the green base."}, {"label": "subtasks", "start_step": 510, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_place: Right hand fits the white hexagonal block onto the leftmost purple peg while lowering it until it is supported by the green base."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white hexagonal piece on the leftmost purple peg, with fingers opening."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal piece on the table, with fingers closing around it."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the left white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it upward to the position above the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left purple peg without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the left purple peg while moving upward away from the peg."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table above the green block."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table above the green block with fingers closing."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table above the green block without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table, fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is fully off the dark table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1011, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the middle purple peg and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the middle purple peg and releases the block."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers closing and adjusting around it."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the dark table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the green cubic block upward and leftward to the position above the vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand lowers the green cubic block and mates it onto the vertical peg of the wooden rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green cubic block on the vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple vertical post on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1598, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the green block's peg on the wooden base, lowering the cylinder onto the peg."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the green block's peg without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white cylindrical block on the top of the purple rod, with fingers opening gradually."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hollow cylindrical block on the black tabletop next to the wooden base without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block from the tabletop and transports it upward and leftward to the position right above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hollow cylindrical block with the purple rod by lowering it to fit the block's hole over the purple rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod of the wooden rack, with fingers opening."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the wooden peg rack at the back of the table."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the rightmost peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white cylindrical block on the rightmost peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward from the bottle rack area toward the green cubic object on the table, without making contact with the target."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand makes contact with the green cubic object on the table, and adjusts its fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the white rack with bottles."}, {"label": "subtasks", "start_step": 2190, "end_step": 2309, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand aligns and fits the green cubic block onto the target bottle on the rack, then releases the block."}], "episode_index": 30}
+{"source_uid": "1470325cdeb77963", "num_frames": 2191, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the purple rod on the central wooden base."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "77f98507-8c4a-4027-9eac-e949bb6c7abb"}, {"label": "valid", "start_step": 0, "end_step": 2156, "id": "G_7GYLBzkmp3MsJaZ7xOS"}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the purple rod on the central wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the grasped purple rod upwards."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it above the purple post on the wooden base."}, {"label": "goal", "start_step": 201, "end_step": 290, "id": "c05998f1-1977-44a1-a28a-742f7bc75c07"}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple post and inserts it partially onto the post."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple post to secure it in place."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 291, "end_step": 415, "id": "c79ddace-49f7-4612-8ce1-acbbe2e7b473"}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 345, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with slight finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 416, "end_step": 525, "id": "a1a92f43-1505-47e6-8cdd-38007ae68715"}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it onto the post."}, {"label": "goal", "start_step": 526, "end_step": 625, "id": "ad9af71a-db79-4f30-b756-cc5c895c27e7"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 626, "end_step": 760, "id": "a6f91139-0f32-4e5c-8a4b-29fc22ab4530"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal component off the table and transports it towards the wooden peg rack at the upper center of the frame."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the white hexagonal component slightly to align it with the peg on the wooden rack."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white hexagonal component onto the aligned peg of the wooden rack."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the leftmost peg of the wooden base."}, {"label": "goal", "start_step": 761, "end_step": 870, "id": "4c764b38-a341-4b91-8cbe-014c509efa19"}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block, fingers adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 871, "end_step": 965, "id": "4a798372-dd23-4fc1-9306-f4247754ecb3"}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 966, "end_step": 1065, "id": "5d23a408-5e8e-43af-bfe6-2fb78f8615fd"}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green block placed on the tabletop."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the tabletop with fingers closing around it."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the tabletop."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block towards the purple peg on the wooden rack."}, {"label": "goal", "start_step": 1066, "end_step": 1165, "id": "4961339c-d414-4023-9c29-9c6724eac06b"}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1207, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1166, "end_step": 1305, "id": "1fa0651a-f633-45d5-b12f-70341f7a8007"}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object off the black table surface."}, {"label": "goal", "start_step": 1306, "end_step": 1390, "id": "0b9f30ab-acd6-4fed-ad8f-1e0368901af7"}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the target post on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the target post of the wooden assembly rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical object on the wooden assembly rack without moving."}, {"label": "goal", "start_step": 1391, "end_step": 1500, "id": "3e382e2c-243c-4372-88a8-ac4dc0819201"}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the green block on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1462, "end_step": 1551, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table."}, {"label": "goal", "start_step": 1501, "end_step": 1630, "id": "d4cd0207-2d4b-437d-998e-28ef7d55ada8"}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it towards the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the purple rod on the wooden rack."}, {"label": "goal", "start_step": 1631, "end_step": 1740, "id": "2da2c973-71d1-46d9-be79-21db8b96753a"}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black table surface."}, {"label": "goal", "start_step": 1741, "end_step": 1835, "id": "de339b20-4eeb-45a5-92f8-c9966b456a81"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and moves it towards the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod on the wooden rack and inserts it into position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1836, "end_step": 1955, "id": "2a8e7e2c-ac43-4b5b-ac4e-3b0fb97d09b8"}, {"label": "subtasks", "start_step": 1852, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block placed on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green cubic block on the table surface."}, {"label": "goal", "start_step": 1956, "end_step": 2115, "id": "1f231a2c-e8e2-4541-bd00-97b29090557d"}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block away from the table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the rightmost white peg on the wooden base."}, {"label": "subtasks", "start_step": 2010, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white peg and fits it onto the peg to complete assembly."}, {"label": "home", "start_step": 2157, "end_step": 2190, "id": "sjsO444p2xI4JRsCID4fZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the purple rod on the central wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the purple rod on the central wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the grasped purple rod upwards."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple post and inserts it partially onto the post."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple post to secure it in place."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 345, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal component off the table and transports it towards the wooden peg rack at the upper center of the frame."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the white hexagonal component slightly to align it with the peg on the wooden rack."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white hexagonal component onto the aligned peg of the wooden rack."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block, fingers adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green block placed on the tabletop."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the tabletop with fingers closing around it."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the tabletop."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1207, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object off the black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the target post on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the target post of the wooden assembly rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical object on the wooden assembly rack without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the green block on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1462, "end_step": 1551, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it towards the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and moves it towards the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod on the wooden rack and inserts it into position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block placed on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block away from the table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the rightmost white peg on the wooden base."}, {"label": "subtasks", "start_step": 2010, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white peg and fits it onto the peg to complete assembly."}], "episode_index": 31}
+{"source_uid": "75af91fa5327b649", "num_frames": 2256, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves forward and downward from its initial position, extending fingers to approach the green hexagonal block on the table in front of the wooden peg board."}, {"label": "goal", "start_step": 0, "end_step": 165, "id": "552667e2-f0e1-481e-93ca-bbbfc82f629b"}, {"label": "valid", "start_step": 0, "end_step": 2224, "id": "T7FMplxsjf67ogbYbiL3-"}, {"label": "subtasks", "start_step": 112, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, making slight adjustments to finger and wrist positions to establish contact with the block."}, {"label": "goal", "start_step": 166, "end_step": 395, "id": "27226224-2b50-4102-8d59-252cb752cf0c"}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no observable movement of the hand, fingers or the grasped block."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport_place: Right hand carries the lifted green hexagonal block to the position above the purple peg on the wooden board, then moves downward to set the block onto the peg until the block is supported by the peg."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand lowers the white hexagonal block along the purple peg on the wooden pegboard, fitting the block securely into the stacked assembly on the peg."}, {"label": "goal", "start_step": 396, "end_step": 495, "id": "7b2b67f5-5b5f-4319-ad88-0971c3d7f871"}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the pegboard area toward the loose white hexagonal block resting on the black table surface, approaching the target block without establishing contact."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface throughout the adjustment."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand grips the white hexagonal block on the black table surface, lifts it fully off the table, and carries it upward to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 496, "end_step": 640, "id": "a5d1626a-88a0-48b2-a731-3c2e234c21ce"}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, slightly adjusts the block's orientation, and lowers it to fit securely onto the rod."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and nests it onto the purple vertical post, opens fingers to release the block and separate from the assembled part."}, {"label": "goal", "start_step": 641, "end_step": 755, "id": "3930cb87-1c0a-4d9e-8ef4-2f3a0ad9cf18"}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward with empty fingers toward the front-left white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, adjusting finger positions to establish a stable grip."}, {"label": "goal", "start_step": 756, "end_step": 880, "id": "f06bd693-ce1b-48b4-a7f1-31b9dcc6f184"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table, moving it upward toward the purple assembly rod on the wooden rack."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden rack, adjusting position to fit the block onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: press_release: Right hand presses down on the upper white hexagonal block on the front purple post to seat it fully against lower blocks, fingers opening to lose contact with the block."}, {"label": "goal", "start_step": 881, "end_step": 1005, "id": "f738b0fa-07d4-4a4f-8fd6-6df01f4b13b7"}, {"label": "subtasks", "start_step": 892, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block positioned directly in front of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block, making small adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the front white hexagonal block steadily with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block resting on the black table adjacent to the wooden assembly base to form a stable grip."}, {"label": "goal", "start_step": 1006, "end_step": 1095, "id": "dba02ac5-90b6-4699-aeeb-e4eb46961ef2"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and moves it upward to a position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the fitted white hexagonal block steady on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the green hexagonal block on the adjacent table surface, staying empty before contact with the block."}, {"label": "goal", "start_step": 1096, "end_step": 1185, "id": "e288a516-1fb5-49e3-9703-e73caf1064d9"}, {"label": "subtasks", "start_step": 1148, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusts finger positions and closes fingers around the block to establish a grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 1186, "end_step": 1300, "id": "b793f017-88d5-493b-b3de-f74cb9acc7f1"}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and moves it upward to position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block to fit onto the rod and set it onto the underlying supporting white block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block stably fitted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the green block on the purple rod of the wooden assembly, separating fingers from the block."}, {"label": "goal", "start_step": 1301, "end_step": 1410, "id": "bc9a34f0-f7b8-450b-8a1a-d31dd6f83848"}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1350, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand positions fingers around the green hexagonal block on the table and makes small adjustments to close fingers to establish a grip."}, {"label": "goal", "start_step": 1411, "end_step": 1550, "id": "818de12d-c516-4b5d-9806-adad9ec11c14"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical block completely off the table and moves it upward toward the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the mated white cylindrical block on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1545, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens its fingers to release the white cylindrical block fitted on the purple rod."}, {"label": "goal", "start_step": 1551, "end_step": 1640, "id": "8bad8962-7bca-4fe2-a92c-aa4f95daf042"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut near the right edge of the wooden block base, with fingers open and no contact with the nut."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a grip on the nut while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface."}, {"label": "goal", "start_step": 1641, "end_step": 1750, "id": "228ff796-2f7c-4901-9d02-5a3bb5a460f5"}, {"label": "subtasks", "start_step": 1658, "end_step": 1671, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal block upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, adjusting position slightly to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves down and right from the area above the wooden block set toward the white hexagonal object resting on the black table surface, staying empty before making contact with the target."}, {"label": "goal", "start_step": 1751, "end_step": 1835, "id": "8298763a-a49d-4890-90e2-befcb20b0a71"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal object on the table, making small positional adjustments of the fingers and wrist to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without any visible movement of the hand, fingers or the gripped object."}, {"label": "goal", "start_step": 1836, "end_step": 1960, "id": "38a0b41a-fc35-4286-840f-31887fd01f5e"}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand maintains grip on the white hollow cylinder and moves upward, lifting the cylinder completely off the dark work surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the white hollow cylinder diagonally upward through the air toward the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand slightly adjusts the position of the white hollow cylinder to align it with the empty mounting position next to the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple peg on the wooden base, opening fingers to release the block."}, {"label": "goal", "start_step": 1961, "end_step": 2055, "id": "f2c70bba-4874-4d5a-b50a-84c1ad379be1"}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and rightward toward the green cube resting on the black table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green block on the dark gray table surface with no visible movement."}, {"label": "goal", "start_step": 2056, "end_step": 2180, "id": "89e75a0c-451c-43dc-aa49-0248e4cc4590"}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves upward to lift the green block completely off the dark gray table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2121, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted green block upward and toward the wooden block rack at the center of the table."}, {"label": "subtasks", "start_step": 2122, "end_step": 2189, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the green block with the target white post on the rack and fits the block onto the post, making small positional adjustments to seat the block."}, {"label": "home", "start_step": 2225, "end_step": 2255, "id": "R8Oh_S0D4Hi7vpLwNjVPv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves forward and downward from its initial position, extending fingers to approach the green hexagonal block on the table in front of the wooden peg board."}, {"label": "subtasks", "start_step": 112, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, making slight adjustments to finger and wrist positions to establish contact with the block."}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no observable movement of the hand, fingers or the grasped block."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport_place: Right hand carries the lifted green hexagonal block to the position above the purple peg on the wooden board, then moves downward to set the block onto the peg until the block is supported by the peg."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand lowers the white hexagonal block along the purple peg on the wooden pegboard, fitting the block securely into the stacked assembly on the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the pegboard area toward the loose white hexagonal block resting on the black table surface, approaching the target block without establishing contact."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface throughout the adjustment."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand grips the white hexagonal block on the black table surface, lifts it fully off the table, and carries it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, slightly adjusts the block's orientation, and lowers it to fit securely onto the rod."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and nests it onto the purple vertical post, opens fingers to release the block and separate from the assembled part."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward with empty fingers toward the front-left white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, adjusting finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table, moving it upward toward the purple assembly rod on the wooden rack."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden rack, adjusting position to fit the block onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: press_release: Right hand presses down on the upper white hexagonal block on the front purple post to seat it fully against lower blocks, fingers opening to lose contact with the block."}, {"label": "subtasks", "start_step": 892, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block positioned directly in front of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block, making small adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the front white hexagonal block steadily with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block resting on the black table adjacent to the wooden assembly base to form a stable grip."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and moves it upward to a position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the fitted white hexagonal block steady on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the green hexagonal block on the adjacent table surface, staying empty before contact with the block."}, {"label": "subtasks", "start_step": 1148, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusts finger positions and closes fingers around the block to establish a grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and moves it upward to position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block to fit onto the rod and set it onto the underlying supporting white block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block stably fitted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the green block on the purple rod of the wooden assembly, separating fingers from the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1350, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand positions fingers around the green hexagonal block on the table and makes small adjustments to close fingers to establish a grip."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical block completely off the table and moves it upward toward the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the mated white cylindrical block on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1545, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens its fingers to release the white cylindrical block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut near the right edge of the wooden block base, with fingers open and no contact with the nut."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a grip on the nut while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1671, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal block upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, adjusting position slightly to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves down and right from the area above the wooden block set toward the white hexagonal object resting on the black table surface, staying empty before making contact with the target."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal object on the table, making small positional adjustments of the fingers and wrist to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without any visible movement of the hand, fingers or the gripped object."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand maintains grip on the white hollow cylinder and moves upward, lifting the cylinder completely off the dark work surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the white hollow cylinder diagonally upward through the air toward the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand slightly adjusts the position of the white hollow cylinder to align it with the empty mounting position next to the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple peg on the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and rightward toward the green cube resting on the black table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green block on the dark gray table surface with no visible movement."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves upward to lift the green block completely off the dark gray table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2121, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted green block upward and toward the wooden block rack at the center of the table."}, {"label": "subtasks", "start_step": 2122, "end_step": 2189, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the green block with the target white post on the rack and fits the block onto the post, making small positional adjustments to seat the block."}], "episode_index": 32}
+{"source_uid": "63b74c4f3ff46eaf", "num_frames": 2394, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green ring on the leftmost purple pole, moving from the right side of the table."}, {"label": "goal", "start_step": 0, "end_step": 225, "id": "e043efc1-fe60-4fad-8b27-2519be7d9326"}, {"label": "valid", "start_step": 0, "end_step": 2362, "id": "uhs2ktDAI3_7JILK8fiRL"}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the leftmost purple pole, with fingers closing around the ring to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the green ring along the leftmost purple pole away from itself, moving the ring toward the wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 226, "end_step": 365, "id": "745cd660-9c0a-4644-8ed2-78db3cb1b529"}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the black table surface to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost purple peg on the wooden base by lowering and aligning it onto the peg."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical object onto the purple peg and releases the object."}, {"label": "goal", "start_step": 366, "end_step": 490, "id": "b4529b29-6e0d-486e-8547-f95a4fda3809"}, {"label": "subtasks", "start_step": 412, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the dark table with an empty hand."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the dark table with fingers closing around it."}, {"label": "goal", "start_step": 491, "end_step": 594, "id": "8e8af75e-cec3-4c24-b838-d0edcbc4b28b"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it upward and backward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg by lowering it and fitting the hole over the peg."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the leftmost purple peg of the pegboard, with fingers opening from a closed position."}, {"label": "goal", "start_step": 595, "end_step": 762, "id": "e79335c0-f11a-40ad-b029-9a2e4e982709"}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward from the pegboard area toward the white hexagonal piece on the table, empty."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 763, "end_step": 898, "id": "3d6d344e-88f9-4ac6-931a-51c020574ff2"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the test tube rack at the back of the frame."}, {"label": "subtasks", "start_step": 818, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the leftmost purple rod of the test tube rack, lowering it to fit into place."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical object on the leftmost purple rod of the test tube rack without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the middle purple rod of the wooden board and releases the block with fingers opening."}, {"label": "goal", "start_step": 899, "end_step": 1010, "id": "88c23a7f-1421-45b7-bbc1-7208cdf9a820"}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden board."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden board, with fingers closing around the block."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table in front of the wooden board without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1011, "end_step": 1114, "id": "46d48a4b-a449-4487-b745-0957f222efd7"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical part off the table and moves it to the position above the purple peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical part with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical part on the purple peg without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the middle post of the wooden base, releasing the grip."}, {"label": "goal", "start_step": 1115, "end_step": 1218, "id": "40e5e86b-7d76-42f7-b6fb-d76ec78f7b57"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the left green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left green cubic block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the left green cubic block upward away from the table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table and transports it to the position above the middle purple peg on the wooden board."}, {"label": "goal", "start_step": 1219, "end_step": 1322, "id": "a575213a-246f-4d2e-8ef4-7fe6b71f86a4"}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg, lowering it along the peg until it reaches the white block below."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical purple peg on the wooden base."}, {"label": "goal", "start_step": 1323, "end_step": 1562, "id": "38ac465d-2371-4d37-aa82-832b649c5b1c"}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1508, "end_step": 1559, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, fingers closing around the block."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hollow block from the black ground."}, {"label": "goal", "start_step": 1563, "end_step": 1650, "id": "c98f3cd7-fe1c-4e33-b85c-55ab1287a9bd"}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1598, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by aligning its hole and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow cylindrical object onto the green post on the wooden base and releases the object."}, {"label": "goal", "start_step": 1651, "end_step": 1754, "id": "153c2de0-9d67-41d7-93d1-e0b956a3d0a7"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hollow cylindrical object on the dark table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical object on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers slightly adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1755, "end_step": 1842, "id": "5930fff1-349f-4cfa-954f-243f5537a5e1"}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it to the position above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1829, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white object on the purple rod of the wooden pallet, with fingers opening gradually."}, {"label": "goal", "start_step": 1843, "end_step": 1954, "id": "cdb6075e-72b8-4ebc-a340-d1ff59217606"}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1955, "end_step": 2058, "id": "8f900022-f45e-4f90-b632-aec3f0455f2e"}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod on the wooden board, lowering it onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the purple rod into the top of the rightmost white bottle on the wooden base and releases the purple rod."}, {"label": "goal", "start_step": 2059, "end_step": 2170, "id": "e8bf9964-f911-411c-9cbf-edc9a97522fd"}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the table with fingers slightly open."}, {"label": "subtasks", "start_step": 2115, "end_step": 2181, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2171, "end_step": 2322, "id": "0d92083c-a1fa-46ac-94c4-155665e03f5b"}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the dark table surface and moves it toward the white bottle with a thin rod on the wooden tray."}, {"label": "subtasks", "start_step": 2212, "end_step": 2324, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green cubic block with the thin rod on the white bottle and lowers the block onto the bottle."}, {"label": "home", "start_step": 2363, "end_step": 2393, "id": "g_zSZ8bGKGc2hT8426n8C"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green ring on the leftmost purple pole, moving from the right side of the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the leftmost purple pole, with fingers closing around the ring to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the green ring along the leftmost purple pole away from itself, moving the ring toward the wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the black table surface to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost purple peg on the wooden base by lowering and aligning it onto the peg."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical object onto the purple peg and releases the object."}, {"label": "subtasks", "start_step": 412, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the dark table with an empty hand."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the dark table with fingers closing around it."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it upward and backward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg by lowering it and fitting the hole over the peg."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the leftmost purple peg of the pegboard, with fingers opening from a closed position."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward from the pegboard area toward the white hexagonal piece on the table, empty."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the test tube rack at the back of the frame."}, {"label": "subtasks", "start_step": 818, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the leftmost purple rod of the test tube rack, lowering it to fit into place."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical object on the leftmost purple rod of the test tube rack without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the middle purple rod of the wooden board and releases the block with fingers opening."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden board."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden board, with fingers closing around the block."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table in front of the wooden board without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical part off the table and moves it to the position above the purple peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical part with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical part on the purple peg without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the middle post of the wooden base, releasing the grip."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the left green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left green cubic block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the left green cubic block upward away from the table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table and transports it to the position above the middle purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg, lowering it along the peg until it reaches the white block below."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1508, "end_step": 1559, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, fingers closing around the block."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hollow block from the black ground."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1598, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by aligning its hole and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow cylindrical object onto the green post on the wooden base and releases the object."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hollow cylindrical object on the dark table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical object on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers slightly adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it to the position above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1829, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white object on the purple rod of the wooden pallet, with fingers opening gradually."}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod on the wooden board, lowering it onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the purple rod into the top of the rightmost white bottle on the wooden base and releases the purple rod."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the table with fingers slightly open."}, {"label": "subtasks", "start_step": 2115, "end_step": 2181, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the dark table surface and moves it toward the white bottle with a thin rod on the wooden tray."}, {"label": "subtasks", "start_step": 2212, "end_step": 2324, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green cubic block with the thin rod on the white bottle and lowers the block onto the bottle."}], "episode_index": 33}
+{"source_uid": "019fb1e1fa43248b", "num_frames": 2445, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located on the left side of the scattered blocks in front of the wooden peg rack."}, {"label": "goal", "start_step": 0, "end_step": 192, "id": "72d999a4-6aa6-45ee-b8a6-6c084c935456"}, {"label": "valid", "start_step": 0, "end_step": 2410, "id": "GurEVJegp3uw8XhoKgs5Q"}, {"label": "subtasks", "start_step": 82, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 193, "end_step": 320, "id": "0da15e69-ba8f-4598-95a8-1f4806d147e7"}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green block upwards away from the table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport_mate: Right hand transports the green block to the position above the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 315, "end_step": 441, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 321, "end_step": 536, "id": "4adcf604-767f-498b-bda6-ab3bfa5906c4"}, {"label": "subtasks", "start_step": 442, "end_step": 487, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 488, "end_step": 561, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 537, "end_step": 640, "id": "f00aaa72-25bf-434f-86e0-470a1d149688"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal object onto the target purple rod of the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal object on the purple rod without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 689, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 641, "end_step": 784, "id": "5e41a79d-1b41-4c20-b807-a4fb1aa50930"}, {"label": "subtasks", "start_step": 690, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 785, "end_step": 904, "id": "9b96adf7-e722-491b-bcb6-c41541d7209d"}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it towards the wooden base with purple rods."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white cube onto the top of the purple rod on the wooden base."}, {"label": "goal", "start_step": 905, "end_step": 1064, "id": "6545cfca-cb67-409b-a8c7-c63360db151d"}, {"label": "subtasks", "start_step": 930, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white cube on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the white cube on the table and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to above the purple peg on the wooden base."}, {"label": "goal", "start_step": 1065, "end_step": 1144, "id": "f21f1a94-387e-46bd-b616-53ccf1ffac38"}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by pressing it down to fit onto the peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1145, "end_step": 1272, "id": "1f6e0254-0174-4061-a302-484c664b6469"}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves down towards the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with slight finger adjustments."}, {"label": "goal", "start_step": 1273, "end_step": 1416, "id": "15cbb28d-0ab5-4b0f-898e-c232ba19b097"}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green block off the black table and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand mates the green block onto the middle peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1417, "end_step": 1552, "id": "3fd2ddb4-9199-49f0-b39b-d06ec628149d"}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1553, "end_step": 1664, "id": "8395e1dc-dcdf-4bf6-ab13-19c9da34fede"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the white cylinder vertically up from the black tabletop, making it leave the supporting surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the white cylinder towards the wooden base with multiple posts."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white cylinder with the green post on the wooden base and fits the cylinder onto the post."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white cylindrical block on the green block on the wooden base."}, {"label": "goal", "start_step": 1665, "end_step": 1768, "id": "545a857a-d8b1-4b35-9694-2dea8585d730"}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table beside the wooden base."}, {"label": "goal", "start_step": 1769, "end_step": 1904, "id": "54ded09c-9db3-4f6e-b447-c6aa07afc98e"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table."}, {"label": "goal", "start_step": 1905, "end_step": 2000, "id": "1617c768-908a-4b9c-ad41-68b1904739e9"}, {"label": "subtasks", "start_step": 1942, "end_step": 2047, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts fingers to close and grasp the white hollow block on the black table."}, {"label": "goal", "start_step": 2001, "end_step": 2160, "id": "95697f81-0369-4e85-a649-a2ba516da398"}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the white block onto the vacant position of the wooden block rack."}, {"label": "subtasks", "start_step": 2100, "end_step": 2151, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns and presses the white block to fit into the rack's base."}, {"label": "subtasks", "start_step": 2152, "end_step": 2159, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release_retreat: Right hand releases the white block and retreats slightly away from the rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "goal", "start_step": 2161, "end_step": 2280, "id": "3c0d5cd1-9f02-4707-9dad-f79765200921"}, {"label": "subtasks", "start_step": 2212, "end_step": 2264, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand touches the green cubic block, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the green cubic block upward away from the table surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the green block towards the rightmost white column on the wooden rack."}, {"label": "goal", "start_step": 2281, "end_step": 2376, "id": "22c50c4d-3c07-4f4a-a71f-5ab8e88d06ab"}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green block onto the rightmost white column on the wooden rack."}, {"label": "home", "start_step": 2411, "end_step": 2444, "id": "5i-vVpABNgk7M4oTY1rMa"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located on the left side of the scattered blocks in front of the wooden peg rack."}, {"label": "subtasks", "start_step": 82, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green block upwards away from the table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport_mate: Right hand transports the green block to the position above the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 315, "end_step": 441, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 487, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 488, "end_step": 561, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal object onto the target purple rod of the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal object on the purple rod without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 689, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it towards the wooden base with purple rods."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white cube onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white cube on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the white cube on the table and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by pressing it down to fit onto the peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves down towards the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with slight finger adjustments."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green block off the black table and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand mates the green block onto the middle peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the white cylinder vertically up from the black tabletop, making it leave the supporting surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the white cylinder towards the wooden base with multiple posts."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white cylinder with the green post on the wooden base and fits the cylinder onto the post."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white cylindrical block on the green block on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table."}, {"label": "subtasks", "start_step": 1942, "end_step": 2047, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts fingers to close and grasp the white hollow block on the black table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the white block onto the vacant position of the wooden block rack."}, {"label": "subtasks", "start_step": 2100, "end_step": 2151, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns and presses the white block to fit into the rack's base."}, {"label": "subtasks", "start_step": 2152, "end_step": 2159, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release_retreat: Right hand releases the white block and retreats slightly away from the rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2264, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand touches the green cubic block, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the green cubic block upward away from the table surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the green block towards the rightmost white column on the wooden rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green block onto the rightmost white column on the wooden rack."}], "episode_index": 34}
+{"source_uid": "e09c1c838a487582", "num_frames": 2201, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves downward from the right resting position toward the green hexagonal block located at the left front of the wooden peg rack, with fingers kept open while approaching the target."}, {"label": "goal", "start_step": 0, "end_step": 176, "id": "d2ee1ca6-d225-4489-a9e4-7049354c16fe"}, {"label": "valid", "start_step": 0, "end_step": 2167, "id": "H5A5-bHXlLOMTRHs4aYwG"}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block, adjusts wrist position and closes fingers to establish a grasp on the block."}, {"label": "goal", "start_step": 177, "end_step": 272, "id": "6f2d518b-4408-4b01-b0ad-76bbdb1ff474"}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block to position it directly above the target purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post and lowers the block to fit onto the post."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place: Right hand holds the green block, moves it downward along the purple peg, and places it onto the wooden peg base."}, {"label": "goal", "start_step": 273, "end_step": 408, "id": "6a13cc90-a937-4eff-bdc0-1cd81b0ef23a"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: release: Right hand opens fingers to release the green block that rests on the wooden base, separating from the block surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward from the peg base area toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, adjusting finger positions to establish a stable grip."}, {"label": "goal", "start_step": 409, "end_step": 504, "id": "0d4348e2-cf4a-49b5-9de3-f8921ff87bd7"}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place_release: Right hand places the held white hexagonal block onto the left purple post on the wooden base, opening fingers to release the block."}, {"label": "goal", "start_step": 505, "end_step": 664, "id": "0676c902-f6bc-422b-9fc0-b41049ca7210"}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes and adjusts fingers around the leftmost white hexagonal block on the black table surface to form a grasp."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black work surface without moving."}, {"label": "goal", "start_step": 665, "end_step": 784, "id": "e1f26258-00b5-4329-b0f1-5c1d2ae47571"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black work surface and moves it upward to the position directly above the target purple post on the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple post and lowers the nut to fit it onto the post for nesting assembly."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand adjusts its fingers around the white cylindrical object on the purple peg of the wooden assembly to establish a stable grip."}, {"label": "goal", "start_step": 785, "end_step": 928, "id": "ea06cceb-0510-4b7a-ad34-38bc3e46c774"}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object clear of the purple peg while moving it downward and forward toward the white hexagonal piece on the dark table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place: Right hand lowers the white cylindrical object to set it onto the front white hexagonal piece resting on the dark table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the white cylindrical object positioned on top of the white hexagonal piece without any observable movement."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand grips the white hexagonal column resting on the dark table surface and lifts it upward until the column is fully separated from the table."}, {"label": "goal", "start_step": 929, "end_step": 992, "id": "9e439ef1-e1b2-4530-a8be-19f5ef001078"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand carries the lifted white hexagonal column upward and leftward through the air to the position directly above the purple vertical rod on the light wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal column with the purple vertical rod, then lowers the column to fit it securely onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place_release: Right hand places the grasped white hexagonal block onto the purple rod of the wooden base, opening fingers to release the block once the block is supported by the base."}, {"label": "goal", "start_step": 993, "end_step": 1096, "id": "227cc434-6e69-4be8-b813-ce3486fc45f1"}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves downward with an empty hand toward the green hexagonal block on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1097, "end_step": 1200, "id": "7dc8a671-846c-4cde-b449-06ea333fcf4d"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand lifts the green hexagonal block upward until it fully separates from the black table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand moves the grasped green hexagonal block upward to the position above the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without any visible movement or grip adjustment."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place: Right hand lowers the green hexagonal block down the purple peg to rest firmly on the white supporting block on the wooden rack."}, {"label": "goal", "start_step": 1201, "end_step": 1320, "id": "87ba2aea-e05b-472e-b921-dcf5c208a107"}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves downward and toward the front from the upper assembly area, approaching the white hexagonal object resting on the dark work surface with empty, open fingers."}, {"label": "subtasks", "start_step": 1252, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal object on the work surface, making slight finger adjustments to establish a stable grip while the object remains on the surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand moves upward while holding the white hexagonal object, lifting the object completely off the dark work surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward toward the purple rod on the wooden block base."}, {"label": "goal", "start_step": 1321, "end_step": 1384, "id": "0ca96d1a-ccd6-4c66-8e14-2068a0a3ab11"}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "goal", "start_step": 1385, "end_step": 1496, "id": "4e94e6f5-7699-4c3d-9084-3200419c7e51"}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut near the wooden component stand without moving."}, {"label": "goal", "start_step": 1497, "end_step": 1560, "id": "d08279d9-35d5-4bf0-9c72-c6de442217c1"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand carries the white hexagonal nut upward to the position above the top of the purple rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns and fits the white hexagonal nut onto the top end of the purple rod."}, {"label": "goal", "start_step": 1561, "end_step": 1720, "id": "5e554d08-32b4-497b-8a7d-c952f0e88ed6"}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: release_reach: Right hand releases the fitted white cylindrical piece on the purple rod and moves empty toward the white hexagonal nut on the dark table surface, approaching the nut with slightly open fingers."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the small white cylindrical block resting on the table surface without moving."}, {"label": "goal", "start_step": 1721, "end_step": 1864, "id": "b175a323-5b68-4012-931d-fdada965886d"}, {"label": "subtasks", "start_step": 1732, "end_step": 1777, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the small white cylindrical block off the table and moves it upward toward the purple rod on the block base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1859, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the small white cylindrical block with the purple rod and lowers it to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: press: Right hand presses the top surface of the purple cylinder on the wooden block holder downward with the index finger, pushing the cylinder down into the holder."}, {"label": "goal", "start_step": 1865, "end_step": 1984, "id": "081e79d9-870c-4fd1-837b-b97dca1e8ab2"}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward and to the right toward the green square block on the dark table surface, with no contact to the block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand makes contact with the green square block on the dark table surface, adjusting finger positions and closing fingers around the block to establish a grip."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block resting on the dark table surface without observable movement."}, {"label": "goal", "start_step": 1985, "end_step": 2112, "id": "450057f4-d1d7-40c5-b8e7-0b55e4272d17"}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the dark table surface and transports it to the position directly above the rightmost white post on the light wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost white post on the wooden rack, moves the block downward to nest it onto the post with slight position adjustments for proper fitting."}, {"label": "home", "start_step": 2168, "end_step": 2200, "id": "QTJRTfdWyshspmgFxx2xc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves downward from the right resting position toward the green hexagonal block located at the left front of the wooden peg rack, with fingers kept open while approaching the target."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block, adjusts wrist position and closes fingers to establish a grasp on the block."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block to position it directly above the target purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post and lowers the block to fit onto the post."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place: Right hand holds the green block, moves it downward along the purple peg, and places it onto the wooden peg base."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: release: Right hand opens fingers to release the green block that rests on the wooden base, separating from the block surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward from the peg base area toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, adjusting finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place_release: Right hand places the held white hexagonal block onto the left purple post on the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes and adjusts fingers around the leftmost white hexagonal block on the black table surface to form a grasp."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black work surface without moving."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black work surface and moves it upward to the position directly above the target purple post on the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple post and lowers the nut to fit it onto the post for nesting assembly."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand adjusts its fingers around the white cylindrical object on the purple peg of the wooden assembly to establish a stable grip."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object clear of the purple peg while moving it downward and forward toward the white hexagonal piece on the dark table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place: Right hand lowers the white cylindrical object to set it onto the front white hexagonal piece resting on the dark table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the white cylindrical object positioned on top of the white hexagonal piece without any observable movement."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand grips the white hexagonal column resting on the dark table surface and lifts it upward until the column is fully separated from the table."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand carries the lifted white hexagonal column upward and leftward through the air to the position directly above the purple vertical rod on the light wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal column with the purple vertical rod, then lowers the column to fit it securely onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place_release: Right hand places the grasped white hexagonal block onto the purple rod of the wooden base, opening fingers to release the block once the block is supported by the base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves downward with an empty hand toward the green hexagonal block on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand lifts the green hexagonal block upward until it fully separates from the black table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand moves the grasped green hexagonal block upward to the position above the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without any visible movement or grip adjustment."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place: Right hand lowers the green hexagonal block down the purple peg to rest firmly on the white supporting block on the wooden rack."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves downward and toward the front from the upper assembly area, approaching the white hexagonal object resting on the dark work surface with empty, open fingers."}, {"label": "subtasks", "start_step": 1252, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal object on the work surface, making slight finger adjustments to establish a stable grip while the object remains on the surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand moves upward while holding the white hexagonal object, lifting the object completely off the dark work surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut near the wooden component stand without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand carries the white hexagonal nut upward to the position above the top of the purple rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns and fits the white hexagonal nut onto the top end of the purple rod."}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: release_reach: Right hand releases the fitted white cylindrical piece on the purple rod and moves empty toward the white hexagonal nut on the dark table surface, approaching the nut with slightly open fingers."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the small white cylindrical block resting on the table surface without moving."}, {"label": "subtasks", "start_step": 1732, "end_step": 1777, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the small white cylindrical block off the table and moves it upward toward the purple rod on the block base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1859, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the small white cylindrical block with the purple rod and lowers it to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: press: Right hand presses the top surface of the purple cylinder on the wooden block holder downward with the index finger, pushing the cylinder down into the holder."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward and to the right toward the green square block on the dark table surface, with no contact to the block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand makes contact with the green square block on the dark table surface, adjusting finger positions and closing fingers around the block to establish a grip."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block resting on the dark table surface without observable movement."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the dark table surface and transports it to the position directly above the rightmost white post on the light wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost white post on the wooden rack, moves the block downward to nest it onto the post with slight position adjustments for proper fitting."}], "episode_index": 35}
+{"source_uid": "3f0b72f32517ceb3", "num_frames": 2263, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the middle block assembly on the table, moving leftward and upward with empty hand."}, {"label": "goal", "start_step": 0, "end_step": 192, "id": "2a616b3a-bc09-473b-9272-5dd5a7b3281a"}, {"label": "valid", "start_step": 0, "end_step": 2226, "id": "CCcCik6vQNWarTYgCbqFA"}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the purple rod of the middle assembly, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the purple rod, then moves leftward and downward to the area above the front-left green block on the table."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the front-left green block on the table, lowering the block until it is supported by the green block."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 193, "end_step": 280, "id": "282d17e4-7a67-4485-9f01-db37209b19bc"}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green hexagonal block fully down onto the leftmost purple vertical peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 281, "end_step": 440, "id": "c4424d48-62c7-42f2-8f40-f0d8ee0187a7"}, {"label": "subtasks", "start_step": 330, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface to the left of the loose green block."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the dark table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table surface and transports it upward and rightward to the area above the purple peg on the pegboard."}, {"label": "goal", "start_step": 441, "end_step": 544, "id": "2e43507d-edf4-4d40-a204-c307423b5c5d"}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple peg by fitting the part onto the peg."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 545, "end_step": 656, "id": "f2d0b146-dfbb-4b78-8b78-eb59125ea2ce"}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal hollow block on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal hollow block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal hollow block on the black table surface without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the dark table, with fingers adjusting to establish a stable grip while the block stays on the table."}, {"label": "goal", "start_step": 657, "end_step": 776, "id": "73cca31a-ef48-41f7-b6e4-978941f5bb4e"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and transports it upward and toward the peg board with green and purple pegs."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the top-left peg of the peg board, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow block on the top-left peg of the peg board without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow block onto the purple peg of the wooden rack and releases the block."}, {"label": "goal", "start_step": 777, "end_step": 944, "id": "e51c0a2f-f8ff-465b-a373-d5f477352dea"}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table in front of the wooden rack, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block with a central hole from the dark table surface."}, {"label": "goal", "start_step": 945, "end_step": 1096, "id": "856b11a7-1c4d-4a94-bcca-1311dc979aa4"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg by aligning the hole and lowering the block along the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and moves slightly upward away from the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1097, "end_step": 1160, "id": "dcc4897d-c6d2-47b4-ba7f-2d90ccf3ba66"}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1161, "end_step": 1264, "id": "a6a83063-09ef-40ad-aa21-b74b1f99ef93"}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the position above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the top of the rightmost purple peg, aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the top of the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the top of the rightmost purple peg, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1265, "end_step": 1400, "id": "57f1a103-9503-4e97-9e2f-83193ad94e50"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table, approaching it without contact."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1401, "end_step": 1504, "id": "a5b9a2a1-3b0f-4538-a810-725a96d174cc"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical piece from the table and transports it upward and leftward toward the wooden peg board."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece onto the purple vertical peg on the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand holds the white cylindrical piece and moves downward to mate it onto the vertical peg on the green base."}, {"label": "goal", "start_step": 1505, "end_step": 1632, "id": "0c8671b9-5742-4261-a329-a6d53684f82e"}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece that is mated on the vertical peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small white cylindrical piece on the table to approach it."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small white cylindrical piece on the table."}, {"label": "goal", "start_step": 1633, "end_step": 1736, "id": "2fae140e-c7f1-411a-9a40-55f0cd2e6430"}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical piece off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple rod on the wooden rack by aligning and inserting the rod into the cylinder."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1737, "end_step": 1864, "id": "1cd062f1-1356-4f80-80a6-91a458dedd19"}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1865, "end_step": 1952, "id": "5ba24a79-502e-4fd6-9b21-9101528417d6"}, {"label": "subtasks", "start_step": 1882, "end_step": 1919, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it upward and leftward toward the purple rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and lowers it onto the rod to complete the mating."}, {"label": "goal", "start_step": 1953, "end_step": 2048, "id": "90848475-8ad0-4c7b-b184-c2a2a2a9a2f2"}, {"label": "subtasks", "start_step": 1972, "end_step": 1987, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part on the purple peg, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the dark table surface, moving downward and rightward."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the dark table surface, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 2049, "end_step": 2192, "id": "8c01bbe4-0990-4c38-a051-aaba2044d325"}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow cube off the table and moves it toward the wooden rack holding white cylinders."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hollow cube onto the rightmost white cylinder on the wooden rack by aligning the hole with the cylinder and lowering it into place."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hollow cube, with fingers opening and separating from the cube fitted on the white cylinder."}, {"label": "home", "start_step": 2227, "end_step": 2262, "id": "TzDwOWnT5QxOnh2rRrge8"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the middle block assembly on the table, moving leftward and upward with empty hand."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the purple rod of the middle assembly, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the purple rod, then moves leftward and downward to the area above the front-left green block on the table."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the front-left green block on the table, lowering the block until it is supported by the green block."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green hexagonal block fully down onto the leftmost purple vertical peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 330, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface to the left of the loose green block."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the dark table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table surface and transports it upward and rightward to the area above the purple peg on the pegboard."}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple peg by fitting the part onto the peg."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal hollow block on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal hollow block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal hollow block on the black table surface without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the dark table, with fingers adjusting to establish a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and transports it upward and toward the peg board with green and purple pegs."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the top-left peg of the peg board, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow block on the top-left peg of the peg board without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow block onto the purple peg of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table in front of the wooden rack, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block with a central hole from the dark table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg by aligning the hole and lowering the block along the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and moves slightly upward away from the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the position above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the top of the rightmost purple peg, aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the top of the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the top of the rightmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table, approaching it without contact."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical piece from the table and transports it upward and leftward toward the wooden peg board."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece onto the purple vertical peg on the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand holds the white cylindrical piece and moves downward to mate it onto the vertical peg on the green base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece that is mated on the vertical peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small white cylindrical piece on the table to approach it."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small white cylindrical piece on the table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical piece off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple rod on the wooden rack by aligning and inserting the rod into the cylinder."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1882, "end_step": 1919, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it upward and leftward toward the purple rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and lowers it onto the rod to complete the mating."}, {"label": "subtasks", "start_step": 1972, "end_step": 1987, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part on the purple peg, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the dark table surface, moving downward and rightward."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the dark table surface, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow cube off the table and moves it toward the wooden rack holding white cylinders."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hollow cube onto the rightmost white cylinder on the wooden rack by aligning the hole with the cylinder and lowering it into place."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hollow cube, with fingers opening and separating from the cube fitted on the white cylinder."}], "episode_index": 36}
+{"source_uid": "7525e61dcbc52ec9", "num_frames": 2837, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed in front of the wooden base on the table."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "eacf4c2f-5f64-4fff-8038-12684f9ccce4"}, {"label": "valid", "start_step": 0, "end_step": 2799, "id": "y_bSaqyfH73zkYlwCtxMb"}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block up off the table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the frontmost purple rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 201, "end_step": 296, "id": "2f6b7700-4c4b-41b6-9a0f-84dfb6965a5c"}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the green hexagonal block onto the purple peg to complete the assembly."}, {"label": "goal", "start_step": 297, "end_step": 424, "id": "47a319c7-30c3-450a-841b-2e58fe6f2fec"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the purple rod, moving downwards towards the tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 425, "end_step": 504, "id": "9587b31b-10f2-4312-8940-ea287aa91ebb"}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 450, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, aligning it and pressing down to complete the fitting."}, {"label": "goal", "start_step": 505, "end_step": 680, "id": "4eb756d8-550d-4ea4-b2c8-90bafc7dcf98"}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 681, "end_step": 760, "id": "a8638daf-a0e6-4d3a-b061-79d7f6aa973b"}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple poles."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the pole on the wooden rack and inserts it onto the pole."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the pole of the wooden rack without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 761, "end_step": 896, "id": "f1787e94-392f-41fc-bb3a-56b9b1050e06"}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 897, "end_step": 992, "id": "657d9fdb-e461-4d9a-8c98-dc11fa9f4bd8"}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 993, "end_step": 1096, "id": "36ddba22-fb1c-4fd8-a492-23d36aefa6b7"}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface."}, {"label": "goal", "start_step": 1097, "end_step": 1192, "id": "2c7baf5e-6b4c-4608-b9a6-ba80ea10fddb"}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block which is placed on the purple peg."}, {"label": "goal", "start_step": 1193, "end_step": 1320, "id": "db242c8d-cbb1-431f-a7b1-dfc8b70f621b"}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylinder from the black table surface."}, {"label": "goal", "start_step": 1321, "end_step": 1432, "id": "1aa20eec-ef5d-4442-b520-351b12735a6d"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylinder towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple peg on the wooden base and inserts it."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the inserted white cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the white cylindrical block mounted on the vertical post of the wooden base."}, {"label": "goal", "start_step": 1433, "end_step": 2120, "id": "5a797a40-eaa3-4668-8105-61d095e98a3e"}, {"label": "subtasks", "start_step": 1455, "end_step": 1574, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white cylindrical block off the vertical post, making the block fall onto the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1717, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the fallen white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1718, "end_step": 1784, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white cylindrical block towards the wooden base with vertical posts."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the corresponding vertical post on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden base towards another white cylindrical block on the table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2144, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with and adjusts its grip on the white cylindrical block near the wooden base."}, {"label": "goal", "start_step": 2121, "end_step": 2224, "id": "cc50a6de-938a-48be-8dca-a9669f43415f"}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple peg to complete the assembly."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 2225, "end_step": 2352, "id": "6bb68d3f-d61f-44b4-aebd-d62518468785"}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2377, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 2353, "end_step": 2464, "id": "f7457d51-8a17-46be-b164-daaa384ee3fd"}, {"label": "subtasks", "start_step": 2378, "end_step": 2391, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object upwards away from the black table surface."}, {"label": "subtasks", "start_step": 2392, "end_step": 2437, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod fixed on the wooden rack."}, {"label": "subtasks", "start_step": 2460, "end_step": 2511, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 2465, "end_step": 2608, "id": "e2d22d57-54c0-413a-9251-084c2215d3fb"}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2542, "end_step": 2617, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table surface."}, {"label": "goal", "start_step": 2609, "end_step": 2728, "id": "1dc51381-79fb-4f47-9424-a275db03f0a5"}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table surface and transports it towards the white bottle with a purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2707, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the white bottle with a purple cap on the wooden rack and inserts the ring onto the bottle."}, {"label": "subtasks", "start_step": 2708, "end_step": 2729, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring placed on the white bottle, fingers opening to separate from the ring."}, {"label": "home", "start_step": 2800, "end_step": 2836, "id": "HDNshe_kAJnvQAdo3xPRE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed in front of the wooden base on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block up off the table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the frontmost purple rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the green hexagonal block onto the purple peg to complete the assembly."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the purple rod, moving downwards towards the tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 450, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, aligning it and pressing down to complete the fitting."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple poles."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the pole on the wooden rack and inserts it onto the pole."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the pole of the wooden rack without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block which is placed on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylinder from the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylinder towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple peg on the wooden base and inserts it."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the inserted white cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the white cylindrical block mounted on the vertical post of the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1574, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white cylindrical block off the vertical post, making the block fall onto the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1717, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the fallen white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1718, "end_step": 1784, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white cylindrical block towards the wooden base with vertical posts."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the corresponding vertical post on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden base towards another white cylindrical block on the table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2144, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with and adjusts its grip on the white cylindrical block near the wooden base."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple peg to complete the assembly."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2377, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2378, "end_step": 2391, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object upwards away from the black table surface."}, {"label": "subtasks", "start_step": 2392, "end_step": 2437, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod fixed on the wooden rack."}, {"label": "subtasks", "start_step": 2460, "end_step": 2511, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2542, "end_step": 2617, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table surface and transports it towards the white bottle with a purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2707, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the white bottle with a purple cap on the wooden rack and inserts the ring onto the bottle."}, {"label": "subtasks", "start_step": 2708, "end_step": 2729, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring placed on the white bottle, fingers opening to separate from the ring."}], "episode_index": 37}
+{"source_uid": "aef67a7258a6f0c1", "num_frames": 2667, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: idle: Right hand remains empty at the right side of the workspace with fingers extended upward, with no contact with any objects and no visible purposeful movement."}, {"label": "goal", "start_step": 0, "end_step": 248, "id": "ff718fca-2034-4fa8-af38-d1814591c17b"}, {"label": "valid", "start_step": 0, "end_step": 2632, "id": "LXiJ2sf-wdL9oIDm9VvnG"}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward and leftward from its rest position toward the green hexagonal block at the front-left of the wooden peg assembly stand, remaining empty."}, {"label": "subtasks", "start_step": 120, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand positions its fingers around the green hexagonal block, closes its fingers to make contact with the block, and adjusts wrist angle and finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the green hexagonal block steadily, with no visible movement of the hand, fingers, or the gripped block."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand holds the green hexagonal block with closed fingers, and lifts it vertically upward until the block fully leaves the black table surface."}, {"label": "goal", "start_step": 249, "end_step": 328, "id": "ee41eb0a-599c-4d9b-9609-4cc5a96ee6dc"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted green hexagonal block upward through the air to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, and lowers the block to fit it onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 315, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes slight finger adjustments to stabilize its grip on the green hexagonal block held over the purple peg on the wooden base."}, {"label": "goal", "start_step": 329, "end_step": 520, "id": "46678d90-6db4-4950-b9d7-b425eb4091f9"}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand moves the gripped green hexagonal block downward along the purple peg until the block is supported by the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block resting on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned in front of the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal block, making small adjustments to establish a grip."}, {"label": "goal", "start_step": 521, "end_step": 648, "id": "bfd3ee8a-67fa-460a-846d-1aa6d21e8dd7"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden peg base."}, {"label": "subtasks", "start_step": 570, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and adjusts the block's position to fit it onto the rod."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand lowers the light purple hexagonal block onto the left purple rod on the green wooden base until the block is supported by the rod."}, {"label": "goal", "start_step": 649, "end_step": 832, "id": "5253ebf4-576c-417a-8d87-5e1a9d9f3a17"}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward from the assembly base area toward the front white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes around the front white hexagonal block on the table to establish a stable grip."}, {"label": "goal", "start_step": 833, "end_step": 1000, "id": "d3395d45-78d2-471e-96f8-88cd6e6c75eb"}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above a purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 892, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and lowers it along the peg to assemble it onto the stacked nut below on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes slight finger adjustments to secure its grip on the white hexagonal block mounted on the left purple peg of the wooden base."}, {"label": "goal", "start_step": 1001, "end_step": 1104, "id": "572b1303-20ab-4a9e-bf10-fc0ae6cf1736"}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate_release: Right hand moves the grasped white hexagonal block to align with the adjacent purple peg, inserts the block onto the peg, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward in an empty state toward the small white hexagonal block placed on the table in front of the wooden base, approaching the target."}, {"label": "subtasks", "start_step": 1058, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand contacts the small white hexagonal block on the table surface, closes fingers and makes slight adjustments to establish a stable grip on the block."}, {"label": "goal", "start_step": 1105, "end_step": 1200, "id": "5e21ed77-6a38-4ea0-9927-4cfd5367788b"}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place_release: Right hand holds the white cylindrical block, moves downward to set the block onto the middle purple rod on the wooden base, with fingers opening to release the block as it rests on the base."}, {"label": "goal", "start_step": 1201, "end_step": 1384, "id": "510bd421-f64d-48bf-b9af-5e073e785217"}, {"label": "subtasks", "start_step": 1298, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward empty to approach the green hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making small adjustments to finger positions to establish a secure hold on the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand holds the green block on the dark table surface and lifts it upward until the block is fully off the table surface."}, {"label": "goal", "start_step": 1385, "end_step": 1480, "id": "d825998e-c506-4b63-9e46-e2f88606e03e"}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted green block upward and toward the wooden peg base, moving the block directly above the target purple peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the hole of the green block with the target purple peg on the wooden base and lowers the block to fit onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the middle purple post until the block is stably supported, and opens fingers to release the block."}, {"label": "goal", "start_step": 1481, "end_step": 1616, "id": "d5b2f283-9350-4528-af3d-34e949e791a0"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the dark gray table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1641, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closes fingers and adjusts contact positions to grasp the block."}, {"label": "goal", "start_step": 1617, "end_step": 1744, "id": "0ca72ca7-6094-4a03-8bac-ae7d74ba4391"}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the work surface and transports it upward and leftward to the position directly above the target vertical rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target vertical rod and moves the block downward to fit onto the rod, forming the assembled connection."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the stacked post on the wooden base, and opens fingers to release the block."}, {"label": "goal", "start_step": 1745, "end_step": 1912, "id": "ebbacc7d-9581-4099-831a-89956477c94c"}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves empty downward toward the small white hexagonal nut placed on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal nut on the table, closing and adjusting fingers to form a grip on the nut."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the small white hexagonal nut on the table steadily without any observable movement or finger adjustment."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward until it fully leaves the black table surface."}, {"label": "goal", "start_step": 1913, "end_step": 2024, "id": "0a9880f5-9797-475b-b4d3-c460448ba437"}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod, completing the assembly."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple rod without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface with fingers slightly open."}, {"label": "goal", "start_step": 2025, "end_step": 2144, "id": "220b2aca-2e8d-4153-8fb1-89f41e22b7a8"}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the black table surface without visible movement."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand holds the white cylindrical object and lifts it upward off the dark table surface until the object is fully separated from the table."}, {"label": "goal", "start_step": 2145, "end_step": 2256, "id": "9eb94ca4-08b8-4210-9318-2efbc4d073c9"}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted white cylindrical object upward and toward the wooden holder, moving it to the position directly above the empty slot on the holder."}, {"label": "subtasks", "start_step": 2182, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand makes slight positional adjustments to the white cylindrical object to align it precisely with the empty slot on the wooden holder."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand moves the aligned white cylindrical object downward into the empty slot until the object is stably supported by the wooden holder."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: release: Right hand opens its fingers to release the placed white cylindrical object, separating from the object surface."}, {"label": "goal", "start_step": 2257, "end_step": 2384, "id": "f82a988d-0958-47fa-80b5-23a84b9a9f16"}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the purple cylindrical object on the light wooden tray without moving."}, {"label": "subtasks", "start_step": 2280, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: release_reach: Right hand opens fingers to release the purple cylindrical object on the tray, and moves diagonally down toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand contacts the top of the green square block on the table, closing fingers and adjusting contact positions to form a grip."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes fingers around the green perforated block on the black table surface to establish a firm grasp."}, {"label": "goal", "start_step": 2385, "end_step": 2520, "id": "a6f360d7-e34e-487b-853a-da0126ccedc4"}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward through the air to the position directly above the gap between white cylinders on the wooden tray."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand lowers the green block vertically down to place it into the target gap between white cylinders, until the block is stably supported by adjacent objects."}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand maintains a stable grip on the placed green block without observable movement of the hand, fingers or the block."}, {"label": "home", "start_step": 2633, "end_step": 2666, "id": "47xUJY5yQqI7fdAgnMQ7y"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: idle: Right hand remains empty at the right side of the workspace with fingers extended upward, with no contact with any objects and no visible purposeful movement."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward and leftward from its rest position toward the green hexagonal block at the front-left of the wooden peg assembly stand, remaining empty."}, {"label": "subtasks", "start_step": 120, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand positions its fingers around the green hexagonal block, closes its fingers to make contact with the block, and adjusts wrist angle and finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the green hexagonal block steadily, with no visible movement of the hand, fingers, or the gripped block."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand holds the green hexagonal block with closed fingers, and lifts it vertically upward until the block fully leaves the black table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted green hexagonal block upward through the air to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, and lowers the block to fit it onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 315, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes slight finger adjustments to stabilize its grip on the green hexagonal block held over the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand moves the gripped green hexagonal block downward along the purple peg until the block is supported by the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block resting on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned in front of the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal block, making small adjustments to establish a grip."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden peg base."}, {"label": "subtasks", "start_step": 570, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and adjusts the block's position to fit it onto the rod."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand lowers the light purple hexagonal block onto the left purple rod on the green wooden base until the block is supported by the rod."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward from the assembly base area toward the front white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes around the front white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above a purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 892, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and lowers it along the peg to assemble it onto the stacked nut below on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes slight finger adjustments to secure its grip on the white hexagonal block mounted on the left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate_release: Right hand moves the grasped white hexagonal block to align with the adjacent purple peg, inserts the block onto the peg, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward in an empty state toward the small white hexagonal block placed on the table in front of the wooden base, approaching the target."}, {"label": "subtasks", "start_step": 1058, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand contacts the small white hexagonal block on the table surface, closes fingers and makes slight adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place_release: Right hand holds the white cylindrical block, moves downward to set the block onto the middle purple rod on the wooden base, with fingers opening to release the block as it rests on the base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward empty to approach the green hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making small adjustments to finger positions to establish a secure hold on the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand holds the green block on the dark table surface and lifts it upward until the block is fully off the table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted green block upward and toward the wooden peg base, moving the block directly above the target purple peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the hole of the green block with the target purple peg on the wooden base and lowers the block to fit onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the middle purple post until the block is stably supported, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the dark gray table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1641, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closes fingers and adjusts contact positions to grasp the block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the work surface and transports it upward and leftward to the position directly above the target vertical rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target vertical rod and moves the block downward to fit onto the rod, forming the assembled connection."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the stacked post on the wooden base, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves empty downward toward the small white hexagonal nut placed on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal nut on the table, closing and adjusting fingers to form a grip on the nut."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the small white hexagonal nut on the table steadily without any observable movement or finger adjustment."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward until it fully leaves the black table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod, completing the assembly."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple rod without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the black table surface without visible movement."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand holds the white cylindrical object and lifts it upward off the dark table surface until the object is fully separated from the table."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted white cylindrical object upward and toward the wooden holder, moving it to the position directly above the empty slot on the holder."}, {"label": "subtasks", "start_step": 2182, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand makes slight positional adjustments to the white cylindrical object to align it precisely with the empty slot on the wooden holder."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand moves the aligned white cylindrical object downward into the empty slot until the object is stably supported by the wooden holder."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: release: Right hand opens its fingers to release the placed white cylindrical object, separating from the object surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the purple cylindrical object on the light wooden tray without moving."}, {"label": "subtasks", "start_step": 2280, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: release_reach: Right hand opens fingers to release the purple cylindrical object on the tray, and moves diagonally down toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand contacts the top of the green square block on the table, closing fingers and adjusting contact positions to form a grip."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes fingers around the green perforated block on the black table surface to establish a firm grasp."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward through the air to the position directly above the gap between white cylinders on the wooden tray."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand lowers the green block vertically down to place it into the target gap between white cylinders, until the block is stably supported by adjacent objects."}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand maintains a stable grip on the placed green block without observable movement of the hand, fingers or the block."}], "episode_index": 38}
+{"source_uid": "e2e675b1127a4532", "num_frames": 2678, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: retreat: Left hand moves leftward away from the central operation area of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block at the left front of the peg board, approaching the target without contact."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "1dbb7b1c-8db9-4c7f-8278-78019f9995db"}, {"label": "valid", "start_step": 0, "end_step": 2647, "id": "LhEG409xmp8pA_imbfc_j"}, {"label": "subtasks", "start_step": 22, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block at the left front of the peg board, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block at the left front of the peg board, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 153, "end_step": 240, "id": "76cc177e-8610-4ead-8b76-91b6fb181e9c"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward until it is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and toward the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: press_release: Right hand presses the green block down to the bottom of the leftmost purple peg on the wooden base and releases the green block."}, {"label": "goal", "start_step": 241, "end_step": 384, "id": "cc76c10e-7bd0-4fc4-bd66-a2fd78cbe37c"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the black table without moving."}, {"label": "goal", "start_step": 385, "end_step": 488, "id": "3737c949-9a8a-43ba-8e54-8fad7eb50759"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and rightward to the upper left of the purple peg group."}, {"label": "subtasks", "start_step": 412, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning the block's hole with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "goal", "start_step": 489, "end_step": 624, "id": "1ab39887-0a64-4681-a344-c75efdfb2c40"}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand holds the white hollow block and moves downward to mate it onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 540, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: release_reach: Right hand releases the white hollow block on the leftmost purple peg and moves downward toward the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 625, "end_step": 760, "id": "8d32999b-7ce9-4f76-9dc7-db8c38f72eb7"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and forward toward the peg board."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost vertical peg of the wooden board by aligning and lowering it into position."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost peg of the board without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the purple vertical post on the wooden base and releases its grip."}, {"label": "goal", "start_step": 761, "end_step": 912, "id": "28da0b62-2a97-4fa0-aacb-e7f1e486ce08"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 913, "end_step": 1072, "id": "5973337d-a6e9-489e-9a67-b30e0a8e087d"}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden base, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1073, "end_step": 1240, "id": "bc64f204-3ebc-410d-a360-64b092564495"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1241, "end_step": 1360, "id": "3c7e213b-fc5b-4d01-b9e6-83dfc1fa0c29"}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the table to the area above the wooden peg board."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto a vertical peg of the wooden peg board by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical peg of the wooden peg board without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1447, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the green vertical peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1361, "end_step": 1568, "id": "4c6cf69a-09dc-4a53-ba8a-5b21eedd4eec"}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hollow hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the dark table surface with fingers closing and adjusting for stable grip."}, {"label": "goal", "start_step": 1569, "end_step": 1672, "id": "690e1c7b-20a0-4006-bff9-fc4118885129"}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and rightward toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with a peg on the wooden base and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white hollow cylinder onto the purple vertical rod and releases it."}, {"label": "goal", "start_step": 1673, "end_step": 1792, "id": "0f64f609-8596-4e3f-a3c1-63a1324e37ce"}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches for the white hexagonal block on the dark table surface near the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1807, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing and adjusting around it."}, {"label": "goal", "start_step": 1793, "end_step": 1896, "id": "4f5a0eb9-8121-42eb-9336-127037d82627"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical piece upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: transport: Right hand transports the white cylindrical piece leftward and upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple rod on the wooden rack by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1890, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple rod on the wooden base and releases it."}, {"label": "goal", "start_step": 1897, "end_step": 2176, "id": "b194a23e-02d5-41be-8023-e87046f16af1"}, {"label": "subtasks", "start_step": 1988, "end_step": 2054, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2189, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 2177, "end_step": 2280, "id": "20795d6a-c0b8-42f1-b66c-f8a1f80454b9"}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it upward and leftward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand moves the white block downward to align and fit its hole onto the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: place_release: Right hand places the white block onto the purple peg on the right side of the wooden rack and releases it."}, {"label": "goal", "start_step": 2281, "end_step": 2464, "id": "f67f560b-2671-428c-9ccc-f45e83baeb61"}, {"label": "subtasks", "start_step": 2318, "end_step": 2377, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2444, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift: Right hand lifts the green cube upward away from the dark table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2465, "end_step": 2600, "id": "60b8f008-a07e-4495-8076-c6fc1662dd16"}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward to the area above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the green block with the rightmost white post on the wooden base by aligning the block's hole with the post and lowering it down."}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the rightmost white post of the wooden base without moving."}, {"label": "home", "start_step": 2648, "end_step": 2677, "id": "Yp6rF5sSA-cidy3cBnFGS"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: retreat: Left hand moves leftward away from the central operation area of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block at the left front of the peg board, approaching the target without contact."}, {"label": "subtasks", "start_step": 22, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block at the left front of the peg board, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block at the left front of the peg board, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward until it is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and toward the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: press_release: Right hand presses the green block down to the bottom of the leftmost purple peg on the wooden base and releases the green block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and rightward to the upper left of the purple peg group."}, {"label": "subtasks", "start_step": 412, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning the block's hole with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand holds the white hollow block and moves downward to mate it onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 540, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: release_reach: Right hand releases the white hollow block on the leftmost purple peg and moves downward toward the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and forward toward the peg board."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost vertical peg of the wooden board by aligning and lowering it into position."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost peg of the board without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the purple vertical post on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden base, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the table to the area above the wooden peg board."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto a vertical peg of the wooden peg board by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical peg of the wooden peg board without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1447, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the green vertical peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hollow hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the dark table surface with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and rightward toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with a peg on the wooden base and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white hollow cylinder onto the purple vertical rod and releases it."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches for the white hexagonal block on the dark table surface near the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1807, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing and adjusting around it."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical piece upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: transport: Right hand transports the white cylindrical piece leftward and upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple rod on the wooden rack by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1890, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple rod on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1988, "end_step": 2054, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2189, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it upward and leftward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand moves the white block downward to align and fit its hole onto the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: place_release: Right hand places the white block onto the purple peg on the right side of the wooden rack and releases it."}, {"label": "subtasks", "start_step": 2318, "end_step": 2377, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2444, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift: Right hand lifts the green cube upward away from the dark table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward to the area above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the green block with the rightmost white post on the wooden base by aligning the block's hole with the post and lowering it down."}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the rightmost white post of the wooden base without moving."}], "episode_index": 39}
+{"source_uid": "e2dea0ddaf15b2bf", "num_frames": 2438, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves to its home position at the left side of the black table. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 208, "id": "dcc1f28e-1820-4fee-907c-096bfc9f67b7"}, {"label": "valid", "start_step": 0, "end_step": 2407, "id": "cZw2lEygxFfGxS_-aTBm3"}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 98, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal block."}, {"label": "goal", "start_step": 209, "end_step": 320, "id": "e2f311a6-e778-43bb-adaa-cda030d4bee0"}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate_place: Right hand aligns the green hexagonal block with the purple rod and places it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: press: Right hand presses the white block downward onto the purple post of the wooden base."}, {"label": "goal", "start_step": 321, "end_step": 464, "id": "14151af8-8956-45a4-abe1-788b1e0b57cb"}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 465, "end_step": 616, "id": "19ef5959-c5bf-4bcb-930b-b9162929609c"}, {"label": "subtasks", "start_step": 502, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it downwards onto the rod."}, {"label": "subtasks", "start_step": 615, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 617, "end_step": 752, "id": "cb45c47d-a842-4a17-b1d1-51a0ed9e0153"}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 753, "end_step": 872, "id": "fb080c5e-0903-446f-99c9-7e8e1b2341bd"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the wooden base with vertical rods."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the target rod of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden peg base."}, {"label": "goal", "start_step": 873, "end_step": 992, "id": "da6ebec3-ce44-4115-aaa7-a0d35b91b33c"}, {"label": "subtasks", "start_step": 915, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting fingers to establish a stable grasp."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift: Right hand lifts the white hollow block from the black table surface."}, {"label": "goal", "start_step": 993, "end_step": 1096, "id": "7ca503ba-f9a7-4180-80e8-937614b43d8a"}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: transport: Right hand transports the white hollow block above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1154, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand inserts the white hollow block onto the purple post on the wooden base to complete assembly."}, {"label": "goal", "start_step": 1097, "end_step": 1288, "id": "73317493-c4db-452b-b7a1-1e45680b0b78"}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: release: Right hand releases the white ring that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1267, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black table surface."}, {"label": "goal", "start_step": 1289, "end_step": 1400, "id": "2ffec48e-c726-4e6c-9102-97e8d6edd496"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the green hexagonal block with the target peg on the wooden rack by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1401, "end_step": 1544, "id": "e0ffce9a-00a6-43f0-a4fb-81295f29025a"}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand adjusts fingers to stably grasp the white cylindrical object on the table."}, {"label": "goal", "start_step": 1545, "end_step": 1680, "id": "5c8608c8-e056-4df5-a4e1-56bfb5e76f69"}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and moves it towards the wooden assembly rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand aligns the white cylindrical object with the target peg on the assembly rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: hold: Right hand holds the inserted white cylindrical object on the assembly rack without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base block tower."}, {"label": "goal", "start_step": 1681, "end_step": 1800, "id": "1e3622ac-d7c2-4428-9991-c6579f902cd6"}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand reaches toward the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the table near the wooden base with finger adjustment."}, {"label": "goal", "start_step": 1801, "end_step": 1936, "id": "4cf37a0b-1bf8-4ab1-bd7e-b98c26ed4d27"}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place_release: Right hand places the white block onto the top of the purple rod on the wooden base, then releases the block."}, {"label": "goal", "start_step": 1937, "end_step": 2048, "id": "c446b842-624a-4ce1-b3fb-501e2e3017dd"}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2032, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the black table."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: transport: Right hand transports the white block from the table surface towards the wooden block rack."}, {"label": "goal", "start_step": 2049, "end_step": 2152, "id": "37a04037-2b30-40a0-96a9-a89111ac52d0"}, {"label": "subtasks", "start_step": 2078, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand aligns the white block with the purple rod on the wooden rack and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2153, "end_step": 2281, "id": "8206f1a1-a59e-46a1-9df5-9b9185d9d6d2"}, {"label": "subtasks", "start_step": 2182, "end_step": 2227, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2228, "end_step": 2287, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2282, "end_step": 2345, "id": "4f4cb658-b0bd-4e16-b071-8de0f7dd5fd0"}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift: Right hand lifts the green cubic block away from the black table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: transport_place: Right hand carries the green cubic block toward the purple rod on the wooden base and places it onto the rod."}, {"label": "home", "start_step": 2408, "end_step": 2437, "id": "8le1phYAli5eUfkC0EGMf"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves to its home position at the left side of the black table. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 98, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate_place: Right hand aligns the green hexagonal block with the purple rod and places it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: press: Right hand presses the white block downward onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it downwards onto the rod."}, {"label": "subtasks", "start_step": 615, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the wooden base with vertical rods."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the target rod of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 915, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting fingers to establish a stable grasp."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift: Right hand lifts the white hollow block from the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: transport: Right hand transports the white hollow block above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1154, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand inserts the white hollow block onto the purple post on the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: release: Right hand releases the white ring that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1267, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the green hexagonal block with the target peg on the wooden rack by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand adjusts fingers to stably grasp the white cylindrical object on the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and moves it towards the wooden assembly rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand aligns the white cylindrical object with the target peg on the assembly rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: hold: Right hand holds the inserted white cylindrical object on the assembly rack without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base block tower."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand reaches toward the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the table near the wooden base with finger adjustment."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place_release: Right hand places the white block onto the top of the purple rod on the wooden base, then releases the block."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2032, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the black table."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: transport: Right hand transports the white block from the table surface towards the wooden block rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand aligns the white block with the purple rod on the wooden rack and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2182, "end_step": 2227, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2228, "end_step": 2287, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift: Right hand lifts the green cubic block away from the black table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: transport_place: Right hand carries the green cubic block toward the purple rod on the wooden base and places it onto the rod."}], "episode_index": 40}
+{"source_uid": "1be89acc6b10addd", "num_frames": 2690, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty upward to the left home position in front of the workspace and comes to a stop. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block located in front-left of the wooden assembly base, with fingers slightly extended during the movement."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "9af4fc51-db61-494f-9ad6-dfd0482042a6"}, {"label": "valid", "start_step": 0, "end_step": 2658, "id": "woz0Dcj9Z4C3BOeFBXk6r"}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block located in front-left of the wooden assembly base, with fingers slightly extended during the movement."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand contacts the target green hexagonal block, closing fingers and adjusting contact positions to establish a grasp on the block."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it completely off the dark table surface, and moves it to the position directly above the leftmost purple peg on the light wooden base."}, {"label": "goal", "start_step": 137, "end_step": 216, "id": "1215dce9-de92-462e-a3d3-d9ad88785598"}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and moves it downward to fit the block onto the peg until the block rests stably on the underlying green block."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the mated green hexagonal block on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand holds a white hexagonal block, aligns it with the purple peg on the light wooden base, and nests it onto the peg to complete assembly."}, {"label": "goal", "start_step": 217, "end_step": 336, "id": "527453f0-9b30-43da-957f-fd00565fa7dc"}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves downward empty from the wooden base area, approaching the white hexagonal block placed on the black table surface in front of the base."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting contact to form a stable grasp."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface."}, {"label": "goal", "start_step": 337, "end_step": 448, "id": "3e6b6c3c-7ab5-477c-a26b-187dd73ccbf0"}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, lowers it to nest onto the peg until the block rests on the green supporting block below."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the nested white hexagonal block on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand holds a white hexagonal block, aligns it with the purple peg on the wooden base, and slides it down to fit onto the peg above the stacked green block."}, {"label": "goal", "start_step": 449, "end_step": 688, "id": "245a8332-e3d9-488b-8de0-427546e9bdb4"}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating from the block on the purple peg."}, {"label": "subtasks", "start_step": 502, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: idle: Right hand remains empty above the wooden peg base without moving."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward from the area above the peg base toward the leftmost white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand makes contact with the leftmost white hexagonal block on the table, closes fingers around the block and adjusts contact positions to establish a grasp."}, {"label": "goal", "start_step": 689, "end_step": 800, "id": "944120ff-3c46-44fa-907d-0bcc8bf73998"}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the white hexagonal nut closest to the wooden base, with an empty hand."}, {"label": "goal", "start_step": 801, "end_step": 888, "id": "18687795-da1e-455e-a4c3-597301fabfda"}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the closest white hexagonal nut to establish a stable grip."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without any observable movement."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block placed on the dark table near the wooden peg stand to form a stable grasp."}, {"label": "goal", "start_step": 889, "end_step": 976, "id": "19240cd2-7d0f-4d78-8082-ae25b2b22762"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand moves vertically upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the empty purple peg on the wooden stand, moving the block to the area above the peg."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand makes slight positional and rotational adjustments to align the central hole of the white hexagonal block with the purple peg, then lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it vertically along the purple peg on the wooden base until the block rests on the base surface, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 977, "end_step": 1112, "id": "47e81d52-7196-49a8-8e40-af28430c52eb"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block positioned near the front of the wooden base, approaching the block surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and contact points to close around the green hexagonal block on the dark table surface, working to establish a stable grip."}, {"label": "goal", "start_step": 1113, "end_step": 1256, "id": "e65b7f43-6a35-42ff-9b98-79742de11e26"}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the dark table surface and transports it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden assembly base, fitting the block down onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: place_release: Right hand lowers the green hexagonal block onto the matching purple post on the wooden base, opening fingers to release the block."}, {"label": "goal", "start_step": 1257, "end_step": 1384, "id": "283e72f2-b5fe-40d8-b6e5-2c67b04b1376"}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty in a downward direction toward the white hexagonal block resting on the black table surface to the left of the loose green block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to establish a stable grip on the block."}, {"label": "goal", "start_step": 1385, "end_step": 1520, "id": "48eb9511-b61c-4648-9374-eff7f496472f"}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden assembly base in the upper middle of the frame."}, {"label": "subtasks", "start_step": 1448, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple vertical rod on the wooden base and fits the block onto the rod to establish the assembly connection."}, {"label": "goal", "start_step": 1521, "end_step": 1784, "id": "6adfb554-727d-4263-9366-0ec32682c77c"}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: release_reach: Right hand releases the fitted white cylindrical block from its grasp and moves empty toward the white hexagonal block near the wooden base, with fingers approaching the target block on the tabletop."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the small white hexagonal block resting on the table near the wooden block base."}, {"label": "goal", "start_step": 1785, "end_step": 1904, "id": "62b9ba22-d3ba-4168-a0f6-d91d96e4018a"}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface, then moves it upward and leftward toward the empty position on the wooden block base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the vertical post on the wooden base and fits the block onto the post."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block securely positioned on the wooden base post without observable movement."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the black table surface, approaching the target block without making contact."}, {"label": "goal", "start_step": 1905, "end_step": 2016, "id": "be0178c1-1eef-4068-a578-79eeceb866fb"}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger positions to close around the block during grasp formation."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the small white block on the black table surface without observable movement of the hand or the block."}, {"label": "goal", "start_step": 2017, "end_step": 2128, "id": "b3f89120-67b8-4768-a59b-434ca557b4a0"}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the small white block off the black table surface and moves it upward to the position above the wooden storage rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the small white block with the purple vertical rod on the wooden rack and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base, with fingers opening to separate from the block surface."}, {"label": "goal", "start_step": 2129, "end_step": 2280, "id": "f722b4b3-1f73-4e4a-ba10-3cab0c607974"}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: retreat: Right hand moves empty upward and rightward, retreating away from the wooden base operation area."}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2198, "end_step": 2271, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand contacts the green cubic block on the table, with fingers adjusting positions and closing to form a stable grasp while the block stays on the supporting surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2279, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand lifts the grasped green cubic block upward, moving the block completely off the dark table surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand grips the green block, lifts it completely off the dark table surface, and moves it upward and leftward to the position directly above the white cylindrical object on the wooden tray."}, {"label": "goal", "start_step": 2281, "end_step": 2600, "id": "017914e3-aaf6-4a97-a2d8-67f4096a5059"}, {"label": "subtasks", "start_step": 2340, "end_step": 2609, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand holds the green block, makes slight continuous adjustments to its position and orientation to align the block with the top of the white cylindrical object below for nesting."}, {"label": "home", "start_step": 2659, "end_step": 2689, "id": "B1pNgooasincnoxtsmF_y"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty upward to the left home position in front of the workspace and comes to a stop. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block located in front-left of the wooden assembly base, with fingers slightly extended during the movement."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block located in front-left of the wooden assembly base, with fingers slightly extended during the movement."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand contacts the target green hexagonal block, closing fingers and adjusting contact positions to establish a grasp on the block."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it completely off the dark table surface, and moves it to the position directly above the leftmost purple peg on the light wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and moves it downward to fit the block onto the peg until the block rests stably on the underlying green block."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the mated green hexagonal block on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand holds a white hexagonal block, aligns it with the purple peg on the light wooden base, and nests it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves downward empty from the wooden base area, approaching the white hexagonal block placed on the black table surface in front of the base."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting contact to form a stable grasp."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, lowers it to nest onto the peg until the block rests on the green supporting block below."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the nested white hexagonal block on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand holds a white hexagonal block, aligns it with the purple peg on the wooden base, and slides it down to fit onto the peg above the stacked green block."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating from the block on the purple peg."}, {"label": "subtasks", "start_step": 502, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: idle: Right hand remains empty above the wooden peg base without moving."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward from the area above the peg base toward the leftmost white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand makes contact with the leftmost white hexagonal block on the table, closes fingers around the block and adjusts contact positions to establish a grasp."}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the white hexagonal nut closest to the wooden base, with an empty hand."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the closest white hexagonal nut to establish a stable grip."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without any observable movement."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block placed on the dark table near the wooden peg stand to form a stable grasp."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand moves vertically upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the empty purple peg on the wooden stand, moving the block to the area above the peg."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand makes slight positional and rotational adjustments to align the central hole of the white hexagonal block with the purple peg, then lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it vertically along the purple peg on the wooden base until the block rests on the base surface, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block positioned near the front of the wooden base, approaching the block surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and contact points to close around the green hexagonal block on the dark table surface, working to establish a stable grip."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the dark table surface and transports it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden assembly base, fitting the block down onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: place_release: Right hand lowers the green hexagonal block onto the matching purple post on the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty in a downward direction toward the white hexagonal block resting on the black table surface to the left of the loose green block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden assembly base in the upper middle of the frame."}, {"label": "subtasks", "start_step": 1448, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple vertical rod on the wooden base and fits the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: release_reach: Right hand releases the fitted white cylindrical block from its grasp and moves empty toward the white hexagonal block near the wooden base, with fingers approaching the target block on the tabletop."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the small white hexagonal block resting on the table near the wooden block base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface, then moves it upward and leftward toward the empty position on the wooden block base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the vertical post on the wooden base and fits the block onto the post."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block securely positioned on the wooden base post without observable movement."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the black table surface, approaching the target block without making contact."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger positions to close around the block during grasp formation."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the small white block on the black table surface without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the small white block off the black table surface and moves it upward to the position above the wooden storage rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the small white block with the purple vertical rod on the wooden rack and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base, with fingers opening to separate from the block surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: retreat: Right hand moves empty upward and rightward, retreating away from the wooden base operation area."}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2198, "end_step": 2271, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand contacts the green cubic block on the table, with fingers adjusting positions and closing to form a stable grasp while the block stays on the supporting surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2279, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand lifts the grasped green cubic block upward, moving the block completely off the dark table surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand grips the green block, lifts it completely off the dark table surface, and moves it upward and leftward to the position directly above the white cylindrical object on the wooden tray."}, {"label": "subtasks", "start_step": 2340, "end_step": 2609, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand holds the green block, makes slight continuous adjustments to its position and orientation to align the block with the top of the white cylindrical object below for nesting."}], "episode_index": 41}
+{"source_uid": "4a293426108165ef", "num_frames": 2592, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and inward toward the center of the table while remaining empty, with no contact with any objects. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed in front of the wooden block stand, remaining empty with no object contact."}, {"label": "goal", "start_step": 0, "end_step": 184, "id": "e90127b9-8dd7-4e20-9c40-235a400cfe8f"}, {"label": "valid", "start_step": 0, "end_step": 2560, "id": "71d4sVOv3LPXpFcrQCi5U"}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed in front of the wooden block stand, remaining empty with no object contact."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, adjusting finger contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the green hexagonal block on the table surface steadily, with no visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the dark table surface adjacent to the wooden peg board to establish a stable grip, with the block remaining on the table."}, {"label": "goal", "start_step": 185, "end_step": 264, "id": "974c2f64-5811-4e86-b91e-127d5bb38b37"}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the suspended green hexagonal block through the air to position it directly above the empty purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place: Right hand lowers the green hexagonal block downward onto the target purple peg until the block is stably supported by the wooden peg board."}, {"label": "subtasks", "start_step": 248, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward along the purple peg to set the block stably on the wooden base, fingers opening to release the block as it settles on the base."}, {"label": "goal", "start_step": 265, "end_step": 408, "id": "1299601c-861c-4cab-a89e-c9b131e8e0ea"}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty in a downward direction from the wooden base area toward the target white hexagonal block resting on the dark table surface, remaining out of contact with the block."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand makes contact with the target white hexagonal block, closes fingers around the block and makes small grip adjustments to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand maintains a firm grip on the white hexagonal block, lifts the block fully off the table surface, and moves the block upward toward the pegs mounted on the wooden base."}, {"label": "goal", "start_step": 409, "end_step": 480, "id": "8dbaa618-b658-4698-8878-1bc38bd7d238"}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, lowers the block to fit onto the peg and seat it firmly on the underlying green block."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand positions the white hexagonal cap onto the green cylindrical post on the wooden assembly base, opening fingers to release the fully seated cap."}, {"label": "goal", "start_step": 481, "end_step": 632, "id": "7df44eae-4cf0-4417-b6dc-e8b1462c683d"}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the targeted white hexagonal block on the dark table surface, adjusting finger contact points to form a stable grip while the block remains supported by the table."}, {"label": "goal", "start_step": 633, "end_step": 712, "id": "8d6b3ee5-3a25-4e66-9dc7-918362d9221c"}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black worktable, moving it upward to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base, sliding it down to fit onto the post."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any visible movement."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: press_release: Right hand holds the white cylindrical block on the left purple peg, presses it straight down along the peg to seat it firmly against the block below, and opens fingers to release the seated block."}, {"label": "goal", "start_step": 713, "end_step": 840, "id": "27ef84e1-3260-4fb8-b34c-9bd578cec2dc"}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty in a downward-forward direction toward the white hexagonal block resting on the black table surface in front of the wooden assembly base, stopping immediately adjacent to the target block."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal block on the table, making small adjustments of the fingers and wrist to establish a stable hold on the block, which remains resting on the table surface."}, {"label": "goal", "start_step": 841, "end_step": 936, "id": "8529881e-9397-4a78-ae75-27f110d96511"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and transports it upward to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple post and moves it downward to fit the cylinder onto the post."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand lowers the gripped white hexagonal nut down onto the middle purple post on the wooden assembly base, releasing the nut as it becomes stably supported by the post."}, {"label": "goal", "start_step": 937, "end_step": 1048, "id": "15936a84-ec94-421d-8592-d74301a20c17"}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves downward with an empty grip toward the front green hexagonal block resting on the dark table surface, approaching the block prior to contact."}, {"label": "subtasks", "start_step": 1012, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand contacts the top surface of the front green hexagonal block and adjusts finger positioning to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1049, "end_step": 1128, "id": "b77be3c4-9a29-4b78-a6cf-6b9da1103731"}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward to completely raise it off the dark work surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand moves the grasped green hexagonal block upward and toward the wooden stand holding stacked blocks."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the green hexagonal block with the vertical post on the wooden stand and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand moves the held green hexagonal block downward to seat it on the purple peg of the wooden base, with fingers opening to release the seated block."}, {"label": "goal", "start_step": 1129, "end_step": 1304, "id": "8ea63758-12d5-4a14-a14d-8d2a30fc90a2"}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves with open fingers downward toward the white hexagonal nut resting on the dark table surface, approaching the target nut."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making small finger position adjustments to form a stable grip while the nut remains supported by the table."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand holds the gripped white hexagonal nut and moves it upward, lifting the nut completely off the dark table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand holds the white hexagonal block, moves upward and toward the top of the purple rod on the stacked block assembly."}, {"label": "goal", "start_step": 1305, "end_step": 1360, "id": "2214aac2-ef2f-4b9b-be16-568cca759b5c"}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the held white hexagonal block with the top of the purple rod, lowers the block to fit it onto the rod to complete the assembly."}, {"label": "goal", "start_step": 1361, "end_step": 1552, "id": "3cb36d57-29dd-442c-8dbd-fd538939a155"}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block on the purple rod, separating from the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed near the right edge of the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand makes contact with the target white hexagonal block near the wooden base, fingers close and adjust to establish grasp on the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand holds the small white cylinder and moves it upward and leftward toward the purple rod on the wooden stacking block set."}, {"label": "goal", "start_step": 1553, "end_step": 1608, "id": "849533aa-f82f-4ecf-bc48-01a5d8207cbc"}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the held white cylinder with the purple rod and lowers it to fit the cylinder onto the rod until the cylinder rests on the wooden base."}, {"label": "goal", "start_step": 1609, "end_step": 1720, "id": "02e38aaa-4a0f-4c97-a2f2-126ce48f6f5f"}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold_release: Right hand holds the white cylinder steady on the purple rod briefly, then opens fingers to release the cylinder."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the small white ring-shaped object on the dark table surface without observable movement."}, {"label": "goal", "start_step": 1721, "end_step": 1928, "id": "9ffe91e7-9a41-4d4c-bba3-f1a4e3b12b07"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand slightly adjusts its fingers to stabilize the grasp on the white ring-shaped object resting on the dark table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand lifts the white ring-shaped object off the dark table surface, transporting it upward to the position directly above the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the central hole of the grasped white ring-shaped object with the purple vertical rod, fitting the ring onto the top of the rod for assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand slides the white ring-shaped object down along the purple vertical rod until it rests on the supporting white cylinder below, opening its fingers to release the object."}, {"label": "goal", "start_step": 1929, "end_step": 2040, "id": "c7633724-3e4a-4723-94fa-f3df63fa6da4"}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty diagonally downwards toward the green cubic block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the green cubic block, making small adjustments to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand moves upwards to raise the grasped green cubic block completely off the dark work surface."}, {"label": "goal", "start_step": 2041, "end_step": 2528, "id": "51eed213-bb6d-4268-8682-07d5a43f789c"}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the green block upward and toward the wooden tray, moving the block to the position above the white bottle on the tray."}, {"label": "subtasks", "start_step": 2092, "end_step": 2279, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align its hole with the purple rod on the white bottle top, making small wrist and finger movements during the alignment attempt."}, {"label": "subtasks", "start_step": 2280, "end_step": 2354, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the green block away from the tray area after the failed alignment, moving the block back down to the right side of the black table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place: Right hand lowers the green block until it rests on the black table surface, supported by the table."}, {"label": "subtasks", "start_step": 2370, "end_step": 2437, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand makes small finger and wrist adjustments to re-grip the green block stably on the table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2451, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand lifts the regripped green block upward from the table surface again until the block is fully off the table."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00060", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the green block upward toward the top of the white bottle on the tray for the second placement attempt."}, {"label": "subtasks", "start_step": 2490, "end_step": 2534, "id": "reasoning-language-00061", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod on the white bottle top, and fits the block onto the rod until the block is stably supported by the bottle."}, {"label": "home", "start_step": 2561, "end_step": 2591, "id": "J85btDYXZgcfxoXNLoBNb"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and inward toward the center of the table while remaining empty, with no contact with any objects. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed in front of the wooden block stand, remaining empty with no object contact."}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed in front of the wooden block stand, remaining empty with no object contact."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, adjusting finger contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the green hexagonal block on the table surface steadily, with no visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the dark table surface adjacent to the wooden peg board to establish a stable grip, with the block remaining on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the suspended green hexagonal block through the air to position it directly above the empty purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place: Right hand lowers the green hexagonal block downward onto the target purple peg until the block is stably supported by the wooden peg board."}, {"label": "subtasks", "start_step": 248, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward along the purple peg to set the block stably on the wooden base, fingers opening to release the block as it settles on the base."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty in a downward direction from the wooden base area toward the target white hexagonal block resting on the dark table surface, remaining out of contact with the block."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand makes contact with the target white hexagonal block, closes fingers around the block and makes small grip adjustments to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand maintains a firm grip on the white hexagonal block, lifts the block fully off the table surface, and moves the block upward toward the pegs mounted on the wooden base."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, lowers the block to fit onto the peg and seat it firmly on the underlying green block."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand positions the white hexagonal cap onto the green cylindrical post on the wooden assembly base, opening fingers to release the fully seated cap."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the targeted white hexagonal block on the dark table surface, adjusting finger contact points to form a stable grip while the block remains supported by the table."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black worktable, moving it upward to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base, sliding it down to fit onto the post."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any visible movement."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: press_release: Right hand holds the white cylindrical block on the left purple peg, presses it straight down along the peg to seat it firmly against the block below, and opens fingers to release the seated block."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty in a downward-forward direction toward the white hexagonal block resting on the black table surface in front of the wooden assembly base, stopping immediately adjacent to the target block."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal block on the table, making small adjustments of the fingers and wrist to establish a stable hold on the block, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and transports it upward to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple post and moves it downward to fit the cylinder onto the post."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand lowers the gripped white hexagonal nut down onto the middle purple post on the wooden assembly base, releasing the nut as it becomes stably supported by the post."}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves downward with an empty grip toward the front green hexagonal block resting on the dark table surface, approaching the block prior to contact."}, {"label": "subtasks", "start_step": 1012, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand contacts the top surface of the front green hexagonal block and adjusts finger positioning to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward to completely raise it off the dark work surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand moves the grasped green hexagonal block upward and toward the wooden stand holding stacked blocks."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the green hexagonal block with the vertical post on the wooden stand and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand moves the held green hexagonal block downward to seat it on the purple peg of the wooden base, with fingers opening to release the seated block."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves with open fingers downward toward the white hexagonal nut resting on the dark table surface, approaching the target nut."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making small finger position adjustments to form a stable grip while the nut remains supported by the table."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand holds the gripped white hexagonal nut and moves it upward, lifting the nut completely off the dark table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand holds the white hexagonal block, moves upward and toward the top of the purple rod on the stacked block assembly."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the held white hexagonal block with the top of the purple rod, lowers the block to fit it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block on the purple rod, separating from the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed near the right edge of the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand makes contact with the target white hexagonal block near the wooden base, fingers close and adjust to establish grasp on the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand holds the small white cylinder and moves it upward and leftward toward the purple rod on the wooden stacking block set."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the held white cylinder with the purple rod and lowers it to fit the cylinder onto the rod until the cylinder rests on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold_release: Right hand holds the white cylinder steady on the purple rod briefly, then opens fingers to release the cylinder."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the small white ring-shaped object on the dark table surface without observable movement."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand slightly adjusts its fingers to stabilize the grasp on the white ring-shaped object resting on the dark table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand lifts the white ring-shaped object off the dark table surface, transporting it upward to the position directly above the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the central hole of the grasped white ring-shaped object with the purple vertical rod, fitting the ring onto the top of the rod for assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand slides the white ring-shaped object down along the purple vertical rod until it rests on the supporting white cylinder below, opening its fingers to release the object."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty diagonally downwards toward the green cubic block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the green cubic block, making small adjustments to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand moves upwards to raise the grasped green cubic block completely off the dark work surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the green block upward and toward the wooden tray, moving the block to the position above the white bottle on the tray."}, {"label": "subtasks", "start_step": 2092, "end_step": 2279, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align its hole with the purple rod on the white bottle top, making small wrist and finger movements during the alignment attempt."}, {"label": "subtasks", "start_step": 2280, "end_step": 2354, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the green block away from the tray area after the failed alignment, moving the block back down to the right side of the black table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place: Right hand lowers the green block until it rests on the black table surface, supported by the table."}, {"label": "subtasks", "start_step": 2370, "end_step": 2437, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand makes small finger and wrist adjustments to re-grip the green block stably on the table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2451, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand lifts the regripped green block upward from the table surface again until the block is fully off the table."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00060", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the green block upward toward the top of the white bottle on the tray for the second placement attempt."}, {"label": "subtasks", "start_step": 2490, "end_step": 2534, "id": "reasoning-language-00061", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod on the white bottle top, and fits the block onto the rod until the block is stably supported by the bottle."}], "episode_index": 42}
+{"source_uid": "e8b82d91411b1d8c", "num_frames": 2470, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the leftmost green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "b5c01fe1-2282-409a-96c2-a00d91bfca7f"}, {"label": "valid", "start_step": 0, "end_step": 2437, "id": "9vql_yKu5TsGREcnv9Bki"}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to contact and grasp the leftmost green hexagonal block, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the leftmost green hexagonal block without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block on the black table, fingers tightening to form a stable grip."}, {"label": "goal", "start_step": 161, "end_step": 272, "id": "34aa5603-ed5d-4870-b335-5a7fd741c3c6"}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward, away from the black table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block horizontally to the position above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green block onto the leftmost peg of the wooden base until the block is supported by the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green block onto the purple post on the wooden base and releases the block."}, {"label": "goal", "start_step": 273, "end_step": 440, "id": "58332ed5-0b9b-46e4-ba1e-82a9c3155176"}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 368, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 441, "end_step": 544, "id": "e9bd6872-c604-492a-add5-cf4767907238"}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod by lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the leftmost purple rod fixed on the wooden base."}, {"label": "goal", "start_step": 545, "end_step": 680, "id": "063d11fd-331f-482c-8e51-f1cfad00b9dc"}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the leftmost white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 681, "end_step": 760, "id": "8ac408f0-3194-4e72-886b-dfcd4a6bb953"}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "goal", "start_step": 761, "end_step": 904, "id": "e170cc61-9e6e-4d7c-8868-7c00b955de46"}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white cylindrical block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 905, "end_step": 984, "id": "cc2f3246-aa36-47ef-9d97-0e2ba066f04e"}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 985, "end_step": 1144, "id": "bccf07aa-8061-48e8-8fca-38bd770dfb1a"}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1145, "end_step": 1232, "id": "fb8ac0f9-dd23-4c5c-9819-a84595c14d84"}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it towards the wooden rack."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the vertical post on the wooden rack."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring onto the vertical post of the wooden base."}, {"label": "goal", "start_step": 1233, "end_step": 1488, "id": "961b8c1d-fdd5-4849-b686-616e910a7cc6"}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white ring on the table surface."}, {"label": "goal", "start_step": 1489, "end_step": 1592, "id": "f984f6bb-eafc-40ec-adad-1828d4d34299"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and transports it towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white ring with the target rod on the wooden base and assembles it onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the post of the wooden base."}, {"label": "goal", "start_step": 1593, "end_step": 1728, "id": "8e1fcabb-0156-4c89-89cc-28127a5de599"}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white block on the table near the wooden base, with fingers closing around the block to adjust grip."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block upward slightly off the table surface."}, {"label": "goal", "start_step": 1729, "end_step": 1808, "id": "5510bea0-1044-45b9-9f02-97777fdcd4c5"}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring upward to the top of the target peg on the wooden block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the target peg on the wooden block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base with stacked blocks."}, {"label": "goal", "start_step": 1809, "end_step": 1960, "id": "5c8aee17-e72d-4217-aec3-37677ddf4a98"}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the dark table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the dark table surface."}, {"label": "goal", "start_step": 1961, "end_step": 2064, "id": "e06cc42d-695e-4566-a9da-55aa7280bcdf"}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white cubic block with the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cubic block along the purple rod until it is supported by the underlying block on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2065, "end_step": 2208, "id": "0f912766-e438-4d30-8e51-6aaf3143a6b0"}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 2130, "end_step": 2181, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the green cubic block on the tabletop to form a stable grasp."}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green cubic block upward off the black tabletop."}, {"label": "goal", "start_step": 2209, "end_step": 2352, "id": "00a68a17-7770-4a44-9188-c34298fafa90"}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the top of the rightmost white column on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the green block down to place it onto the top of the target white column."}, {"label": "subtasks", "start_step": 2280, "end_step": 2354, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the green block to fit onto the white column to complete the assembly."}, {"label": "home", "start_step": 2438, "end_step": 2469, "id": "-GLvn9QcD6TOIRYmhLeGw"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the leftmost green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to contact and grasp the leftmost green hexagonal block, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the leftmost green hexagonal block without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block on the black table, fingers tightening to form a stable grip."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward, away from the black table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block horizontally to the position above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green block onto the leftmost peg of the wooden base until the block is supported by the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green block onto the purple post on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 368, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod by lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the leftmost purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the leftmost white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white cylindrical block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it towards the wooden rack."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the vertical post on the wooden rack."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring onto the vertical post of the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white ring on the table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and transports it towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white ring with the target rod on the wooden base and assembles it onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the post of the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white block on the table near the wooden base, with fingers closing around the block to adjust grip."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block upward slightly off the table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring upward to the top of the target peg on the wooden block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the target peg on the wooden block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the dark table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the dark table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white cubic block with the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cubic block along the purple rod until it is supported by the underlying block on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 2130, "end_step": 2181, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the green cubic block on the tabletop to form a stable grasp."}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green cubic block upward off the black tabletop."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the top of the rightmost white column on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the green block down to place it onto the top of the target white column."}, {"label": "subtasks", "start_step": 2280, "end_step": 2354, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the green block to fit onto the white column to complete the assembly."}], "episode_index": 43}
+{"source_uid": "e48bb2ed6126a061", "num_frames": 2893, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from its initial lower left position to the stationary home position at the left side of the workspace, staying empty with fingers extended during the movement. | Right hand: reach: Right hand moves diagonally downward and left from its initial right-side position toward the green hexagonal block on the black table in front of the wooden peg assembly, with fingers held extended."}, {"label": "goal", "start_step": 0, "end_step": 216, "id": "ae2896d8-bc8b-4534-810b-ce2a3d369f90"}, {"label": "valid", "start_step": 0, "end_step": 2861, "id": "6ADpfzxTVcx3cqfhFcpWy"}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves diagonally downward and left from its initial right-side position toward the green hexagonal block on the black table in front of the wooden peg assembly, with fingers held extended."}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal block, making small adjustments to finger positions and wrist angle to form a stable grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block steady on the black table surface, with no observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable, secure grasp on the green hexagonal block resting on the black work surface."}, {"label": "goal", "start_step": 217, "end_step": 360, "id": "825bd6e2-d4eb-43a1-9185-ef35d8f0bad1"}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block, fully separating it from the black work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and horizontally toward the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block to fit snugly onto the peg."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the purple peg on the wooden base, releasing the block as it settles on the base surface."}, {"label": "goal", "start_step": 361, "end_step": 528, "id": "3375700c-f774-41b0-ae7f-5d9c07bedaff"}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal block, fingers close and perform small adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 529, "end_step": 656, "id": "d401b30f-03bb-4a09-869b-151090e35199"}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and transports it upward and backward to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the target purple peg and slides it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 645, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate_release: Right hand holds the white cylindrical block, aligns it with the leftmost purple rod on the wooden base to fit the block onto the rod, opens fingers to release the block."}, {"label": "goal", "start_step": 657, "end_step": 880, "id": "4f23e310-fe35-4d01-b397-cf77400594d8"}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the leftmost white hexagonal block on the front section of the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the leftmost white hexagonal block on the table, closes fingers and adjusts contact positions to form a grasp on the block."}, {"label": "goal", "start_step": 881, "end_step": 984, "id": "e22ba7d0-1517-402f-85ea-2602ec08fb1d"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and slides the nut down onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds a white hexagonal block, moves it downward onto the purple peg on the wooden base, releasing the block as the peg supports it."}, {"label": "goal", "start_step": 985, "end_step": 1120, "id": "c2eba198-a8fd-4409-b8d9-d2043951f91a"}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward with an empty grip toward the white hexagonal block in front of the wooden base, approaching the block without contact."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block near the wooden base to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the front white hexagonal block near the wooden base with no observable movement or finger adjustment."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grip on the white hexagonal block near the wooden stand, with the block remaining on the table surface throughout this period."}, {"label": "goal", "start_step": 1121, "end_step": 1232, "id": "240e8428-f071-4cf4-b0d8-b87219ff9c78"}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden stand and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden stand without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward along the purple peg to set it onto the wooden assembly base, opens fingers to release grip on the block as it rests stably on the base."}, {"label": "goal", "start_step": 1233, "end_step": 1392, "id": "2330d9af-64d0-4ed5-bf96-9a5856c26c05"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty in a downward and forward direction toward the green hexagonal block placed on the table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block, adjusts finger positions and closes fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand holds the green block resting on the table surface and lifts it upward until the block is completely separated from the table."}, {"label": "goal", "start_step": 1393, "end_step": 1472, "id": "819ca6c2-af53-4eee-9c12-40d0d2ec952a"}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted green block upward to the position directly above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green block with the target purple rod on the wooden rack and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green block securely fitted on the target purple rod without any visible movement or hand shape change."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts its fingers to close around and form a stable grasp on the green cylindrical block mounted on the purple rod of the wooden assembly stand."}, {"label": "goal", "start_step": 1473, "end_step": 1648, "id": "83271d42-33bc-435d-99e0-5dfb40d8b80b"}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped green cylindrical block off the purple rod, then carries it rightward and downward across the table toward the green square block placed on the surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand makes small positional and orientational adjustments to the held green cylindrical block to align it with the mating hole on the green square block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds a white hexagonal block that rests on the dark table surface, with no visible movement of the hand or block."}, {"label": "goal", "start_step": 1649, "end_step": 1824, "id": "233ae4f0-d864-473c-98e7-5bcfc363851a"}, {"label": "subtasks", "start_step": 1672, "end_step": 1701, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface and moves it upward and leftward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1814, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden block base and makes small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the purple rod on the wooden stacking base to set the block stably on the green block beneath, with fingers opening to release contact with the block."}, {"label": "goal", "start_step": 1825, "end_step": 2000, "id": "d1d99f29-1c29-481c-bfeb-d948980d44c0"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand travels rightward with empty hand toward the white hexagonal block on the table adjacent to the wooden stacking base, approaching the target without contact."}, {"label": "subtasks", "start_step": 1950, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers adjust and close around the block to establish a stable grip."}, {"label": "goal", "start_step": 2001, "end_step": 2176, "id": "f201bed5-a9cf-44bf-ae36-bbe9628da0b6"}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the gripped small white hexagonal block vertically upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2121, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the gripped small white hexagonal block upward and horizontally toward the top of the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the small white hexagonal block with the purple vertical rod and slides the block down onto the rod to form an assembled connection."}, {"label": "subtasks", "start_step": 2175, "end_step": 2264, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp_release: Right hand adjusts finger contact points on the white cylindrical block mounted on the purple rod of the wooden rack, opening fingers to end contact with the block."}, {"label": "goal", "start_step": 2177, "end_step": 2344, "id": "963329bf-8789-42d4-9343-43141708acb1"}, {"label": "subtasks", "start_step": 2265, "end_step": 2317, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal nut resting on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface to establish grip on the object."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hollow block resting on the dark table surface without moving."}, {"label": "goal", "start_step": 2345, "end_step": 2440, "id": "8b1d1ada-fb13-4a86-b46c-317b098cb06a"}, {"label": "subtasks", "start_step": 2362, "end_step": 2377, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the white hollow block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2407, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport_mate: Right hand carries the white hollow block through the air toward the purple upright post on the wooden base, aligns the block with the post, and fits the block onto the top of the post."}, {"label": "subtasks", "start_step": 2408, "end_step": 2429, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hollow block seated on the purple upright post without moving."}, {"label": "subtasks", "start_step": 2430, "end_step": 2474, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to set it onto the purple rod on the wooden base, and opens fingers to release the stably supported block."}, {"label": "goal", "start_step": 2441, "end_step": 2624, "id": "ef26629a-2bea-43e9-a038-59496efbc8de"}, {"label": "subtasks", "start_step": 2475, "end_step": 2527, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves in the lower-right direction away from the wooden base with empty hand, departing from the previous assembly position."}, {"label": "subtasks", "start_step": 2528, "end_step": 2549, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the green square block resting on the dark table surface, approaching the block to prepare for grasping."}, {"label": "subtasks", "start_step": 2550, "end_step": 2624, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the green square block on the table, closing fingers to form a firm grasp on the block."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand holds the green block and lifts it upward to completely separate from the black table surface."}, {"label": "goal", "start_step": 2625, "end_step": 2720, "id": "c35f6d14-344b-418f-9afd-583a17534152"}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted green block, moving it upward and leftward to the position above the stacked blocks on the wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2714, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the hole of the green block with the top of the uppermost white block on the tray, adjusting position slightly to fit the block onto the post."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green block steadily fitted on the top of the stacked block without any movement."}, {"label": "home", "start_step": 2862, "end_step": 2892, "id": "UVu-3-rPnLwHL_XOKbaO1"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from its initial lower left position to the stationary home position at the left side of the workspace, staying empty with fingers extended during the movement. | Right hand: reach: Right hand moves diagonally downward and left from its initial right-side position toward the green hexagonal block on the black table in front of the wooden peg assembly, with fingers held extended."}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves diagonally downward and left from its initial right-side position toward the green hexagonal block on the black table in front of the wooden peg assembly, with fingers held extended."}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal block, making small adjustments to finger positions and wrist angle to form a stable grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block steady on the black table surface, with no observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable, secure grasp on the green hexagonal block resting on the black work surface."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block, fully separating it from the black work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and horizontally toward the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block to fit snugly onto the peg."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the purple peg on the wooden base, releasing the block as it settles on the base surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal block, fingers close and perform small adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and transports it upward and backward to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the target purple peg and slides it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 645, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate_release: Right hand holds the white cylindrical block, aligns it with the leftmost purple rod on the wooden base to fit the block onto the rod, opens fingers to release the block."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the leftmost white hexagonal block on the front section of the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the leftmost white hexagonal block on the table, closes fingers and adjusts contact positions to form a grasp on the block."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and slides the nut down onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds a white hexagonal block, moves it downward onto the purple peg on the wooden base, releasing the block as the peg supports it."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward with an empty grip toward the white hexagonal block in front of the wooden base, approaching the block without contact."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block near the wooden base to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the front white hexagonal block near the wooden base with no observable movement or finger adjustment."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grip on the white hexagonal block near the wooden stand, with the block remaining on the table surface throughout this period."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden stand and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden stand without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward along the purple peg to set it onto the wooden assembly base, opens fingers to release grip on the block as it rests stably on the base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty in a downward and forward direction toward the green hexagonal block placed on the table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block, adjusts finger positions and closes fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand holds the green block resting on the table surface and lifts it upward until the block is completely separated from the table."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted green block upward to the position directly above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green block with the target purple rod on the wooden rack and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green block securely fitted on the target purple rod without any visible movement or hand shape change."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts its fingers to close around and form a stable grasp on the green cylindrical block mounted on the purple rod of the wooden assembly stand."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped green cylindrical block off the purple rod, then carries it rightward and downward across the table toward the green square block placed on the surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand makes small positional and orientational adjustments to the held green cylindrical block to align it with the mating hole on the green square block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds a white hexagonal block that rests on the dark table surface, with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1701, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface and moves it upward and leftward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1814, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden block base and makes small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the purple rod on the wooden stacking base to set the block stably on the green block beneath, with fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand travels rightward with empty hand toward the white hexagonal block on the table adjacent to the wooden stacking base, approaching the target without contact."}, {"label": "subtasks", "start_step": 1950, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers adjust and close around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the gripped small white hexagonal block vertically upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2121, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the gripped small white hexagonal block upward and horizontally toward the top of the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the small white hexagonal block with the purple vertical rod and slides the block down onto the rod to form an assembled connection."}, {"label": "subtasks", "start_step": 2175, "end_step": 2264, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp_release: Right hand adjusts finger contact points on the white cylindrical block mounted on the purple rod of the wooden rack, opening fingers to end contact with the block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2317, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal nut resting on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface to establish grip on the object."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hollow block resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2362, "end_step": 2377, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the white hollow block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2407, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport_mate: Right hand carries the white hollow block through the air toward the purple upright post on the wooden base, aligns the block with the post, and fits the block onto the top of the post."}, {"label": "subtasks", "start_step": 2408, "end_step": 2429, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hollow block seated on the purple upright post without moving."}, {"label": "subtasks", "start_step": 2430, "end_step": 2474, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to set it onto the purple rod on the wooden base, and opens fingers to release the stably supported block."}, {"label": "subtasks", "start_step": 2475, "end_step": 2527, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves in the lower-right direction away from the wooden base with empty hand, departing from the previous assembly position."}, {"label": "subtasks", "start_step": 2528, "end_step": 2549, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the green square block resting on the dark table surface, approaching the block to prepare for grasping."}, {"label": "subtasks", "start_step": 2550, "end_step": 2624, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the green square block on the table, closing fingers to form a firm grasp on the block."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand holds the green block and lifts it upward to completely separate from the black table surface."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted green block, moving it upward and leftward to the position above the stacked blocks on the wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2714, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the hole of the green block with the top of the uppermost white block on the tray, adjusting position slightly to fit the block onto the post."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green block steadily fitted on the top of the stacked block without any movement."}], "episode_index": 44}
+{"source_uid": "36146a3d91b04b08", "num_frames": 3303, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:move_upper_left: Left hand moves upward and leftward from the lower left position to the upper left area of the table, empty-handed. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden rack, empty-handed, without contacting any target object."}, {"label": "goal", "start_step": 0, "end_step": 184, "id": "bc87e39a-f2e2-4ad7-9c66-4255bd23d671"}, {"label": "valid", "start_step": 0, "end_step": 3271, "id": "S11dHoo48Rk_Ye-owBxYY"}, {"label": "subtasks", "start_step": 22, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden rack, empty-handed, without contacting any target object."}, {"label": "subtasks", "start_step": 105, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip, the block remains on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 185, "end_step": 280, "id": "5a93426f-0e21-4b8d-a55c-6ab3227af6f4"}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upwards and rightwards to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand moves the green hexagonal block downwards and mates it with the leftmost purple peg on the wooden base by inserting the peg through the block's hole."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the green hollow block onto the leftmost purple peg and releases its grip on the block."}, {"label": "goal", "start_step": 281, "end_step": 424, "id": "94761235-8c2e-41fc-af7b-5cf63b19e23e"}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 425, "end_step": 536, "id": "54399bd9-a766-4467-978e-99e32244444c"}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it upward and rightward to the position above the leftmost peg of the peg board."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost peg of the peg board by lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost peg of the peg board without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the grip."}, {"label": "goal", "start_step": 537, "end_step": 688, "id": "99091181-c0a4-4d1a-9fc4-6d1b6793bec7"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: retreat: Right hand moves upward away from the leftmost purple peg with empty hand."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: idle: Right hand remains empty above the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to adjust the grip while the block stays on the table."}, {"label": "goal", "start_step": 689, "end_step": 784, "id": "d5b9185e-f045-4371-9f58-9c4875f8a66a"}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it upward and backward to the position above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden rack, moving downward to fit the block onto the peg."}, {"label": "goal", "start_step": 785, "end_step": 928, "id": "f7ead80b-2ed1-48ee-b8cf-5756ecda1d2f"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to stabilize the grip."}, {"label": "goal", "start_step": 929, "end_step": 1024, "id": "68228e8e-fe81-4796-b7da-0024d014e548"}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by lowering it to fit the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white ring onto the middle purple peg and releases its grip from the ring."}, {"label": "goal", "start_step": 1025, "end_step": 1128, "id": "ddf8a584-b438-4225-be27-31c7a273a406"}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward from the peg board toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without moving."}, {"label": "goal", "start_step": 1129, "end_step": 1256, "id": "e4185e11-aba9-43e5-9968-0eb72ebc9d95"}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the area above the middle peg on the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle peg of the wooden rack, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_release: Right hand lifts the green ring upward off the middle purple peg on the wooden base and releases it, letting the ring drop onto the dark table surface."}, {"label": "goal", "start_step": 1257, "end_step": 1896, "id": "adc370e9-8341-4f8c-a7a7-be299307bab3"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: idle: Right hand remains empty above the wooden peg base without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the green ring resting on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1492, "end_step": 1551, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table surface and moves it slightly above the table."}, {"label": "subtasks", "start_step": 1552, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green ring placed on the table surface, with slight finger and wrist movements."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and moves it upward to the area above the purple pegs."}, {"label": "subtasks", "start_step": 1710, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green ring with the middle purple peg and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green ring fitted on the purple peg as fingers open."}, {"label": "subtasks", "start_step": 1808, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table surface with fingers closing."}, {"label": "goal", "start_step": 1897, "end_step": 2016, "id": "3da97420-a4dd-423d-9d26-9d4461452b2c"}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the purple peg, aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the purple peg of the wooden base."}, {"label": "goal", "start_step": 2017, "end_step": 2656, "id": "10cb5c2b-afb1-4c2c-b144-ece63c8897d3"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward off the green block beneath it on the purple peg."}, {"label": "subtasks", "start_step": 2085, "end_step": 2219, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport_release: Right hand moves the white cylindrical block above the table surface and releases it, letting the block drop onto the table."}, {"label": "subtasks", "start_step": 2220, "end_step": 2301, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block that fell onto the table."}, {"label": "subtasks", "start_step": 2302, "end_step": 2444, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers around the white cylindrical block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward away from the table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2549, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the white cylindrical block upward to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2550, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the middle purple peg and lowers it onto the peg to form an assembly."}, {"label": "subtasks", "start_step": 2572, "end_step": 2587, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical block fitted on the middle purple peg."}, {"label": "subtasks", "start_step": 2588, "end_step": 2647, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white cylindrical block resting on the table."}, {"label": "subtasks", "start_step": 2648, "end_step": 2654, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers around the upper white cylindrical block on the table to initiate a grasp."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "goal", "start_step": 2657, "end_step": 2768, "id": "fec5c8d0-aad3-46ea-9422-cf325ffe9e79"}, {"label": "subtasks", "start_step": 2670, "end_step": 2691, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2692, "end_step": 2759, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and lowering the block down the rod."}, {"label": "subtasks", "start_step": 2760, "end_step": 2781, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the rightmost peg of the wooden base and releases it."}, {"label": "goal", "start_step": 2769, "end_step": 2864, "id": "1a5d27a7-4b9a-43ba-aaee-b96af256ce90"}, {"label": "subtasks", "start_step": 2782, "end_step": 2811, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2865, "end_step": 2894, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the table surface and transports it toward the purple rod on the wooden rack."}, {"label": "goal", "start_step": 2865, "end_step": 2976, "id": "5a3a09a0-5aa0-4105-8210-229568fe4db5"}, {"label": "subtasks", "start_step": 2895, "end_step": 2961, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand moves the white cubic block downward to align and fit it onto the purple rod."}, {"label": "subtasks", "start_step": 2962, "end_step": 2969, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white cubic block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2970, "end_step": 3021, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white cap onto the top of the rightmost white cylinder with a purple rod on the wooden base and releases the cap."}, {"label": "goal", "start_step": 2977, "end_step": 3128, "id": "b9782e1e-3159-4eea-8520-3ee88d80c403"}, {"label": "subtasks", "start_step": 3022, "end_step": 3051, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves empty toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 3052, "end_step": 3157, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 3129, "end_step": 3224, "id": "cd31e46b-9b04-4532-b715-885532f6ec09"}, {"label": "subtasks", "start_step": 3158, "end_step": 3171, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 3172, "end_step": 3194, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the green block leftward and upward to the position above the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3195, "end_step": 3224, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green block with the white bottle, lowering it to fit onto the bottle top."}, {"label": "home", "start_step": 3272, "end_step": 3302, "id": "KRkOoTcjBTr5tE8XEpwXL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:move_upper_left: Left hand moves upward and leftward from the lower left position to the upper left area of the table, empty-handed. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden rack, empty-handed, without contacting any target object."}, {"label": "subtasks", "start_step": 22, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden rack, empty-handed, without contacting any target object."}, {"label": "subtasks", "start_step": 105, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip, the block remains on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upwards and rightwards to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand moves the green hexagonal block downwards and mates it with the leftmost purple peg on the wooden base by inserting the peg through the block's hole."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the green hollow block onto the leftmost purple peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it upward and rightward to the position above the leftmost peg of the peg board."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost peg of the peg board by lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost peg of the peg board without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: retreat: Right hand moves upward away from the leftmost purple peg with empty hand."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: idle: Right hand remains empty above the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to adjust the grip while the block stays on the table."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it upward and backward to the position above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden rack, moving downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by lowering it to fit the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white ring onto the middle purple peg and releases its grip from the ring."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward from the peg board toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the area above the middle peg on the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle peg of the wooden rack, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_release: Right hand lifts the green ring upward off the middle purple peg on the wooden base and releases it, letting the ring drop onto the dark table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: idle: Right hand remains empty above the wooden peg base without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the green ring resting on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1492, "end_step": 1551, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table surface and moves it slightly above the table."}, {"label": "subtasks", "start_step": 1552, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green ring placed on the table surface, with slight finger and wrist movements."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and moves it upward to the area above the purple pegs."}, {"label": "subtasks", "start_step": 1710, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green ring with the middle purple peg and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green ring fitted on the purple peg as fingers open."}, {"label": "subtasks", "start_step": 1808, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table surface with fingers closing."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the purple peg, aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward off the green block beneath it on the purple peg."}, {"label": "subtasks", "start_step": 2085, "end_step": 2219, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport_release: Right hand moves the white cylindrical block above the table surface and releases it, letting the block drop onto the table."}, {"label": "subtasks", "start_step": 2220, "end_step": 2301, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block that fell onto the table."}, {"label": "subtasks", "start_step": 2302, "end_step": 2444, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers around the white cylindrical block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward away from the table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2549, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the white cylindrical block upward to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2550, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the middle purple peg and lowers it onto the peg to form an assembly."}, {"label": "subtasks", "start_step": 2572, "end_step": 2587, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical block fitted on the middle purple peg."}, {"label": "subtasks", "start_step": 2588, "end_step": 2647, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white cylindrical block resting on the table."}, {"label": "subtasks", "start_step": 2648, "end_step": 2654, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers around the upper white cylindrical block on the table to initiate a grasp."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2670, "end_step": 2691, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2692, "end_step": 2759, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and lowering the block down the rod."}, {"label": "subtasks", "start_step": 2760, "end_step": 2781, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the rightmost peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 2782, "end_step": 2811, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2865, "end_step": 2894, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the table surface and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2895, "end_step": 2961, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand moves the white cubic block downward to align and fit it onto the purple rod."}, {"label": "subtasks", "start_step": 2962, "end_step": 2969, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white cubic block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2970, "end_step": 3021, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white cap onto the top of the rightmost white cylinder with a purple rod on the wooden base and releases the cap."}, {"label": "subtasks", "start_step": 3022, "end_step": 3051, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves empty toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 3052, "end_step": 3157, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3158, "end_step": 3171, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 3172, "end_step": 3194, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the green block leftward and upward to the position above the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3195, "end_step": 3224, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green block with the white bottle, lowering it to fit onto the bottle top."}], "episode_index": 45}
+{"source_uid": "7338b84fd018b65b", "num_frames": 3652, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the front left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 208, "id": "ccababc7-97d4-419b-8c2d-623e509c3777"}, {"label": "valid", "start_step": 0, "end_step": 3616, "id": "ElYE80gWtuzXI9-oM-gVt"}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to form stable grasp on the white cylindrical block on the front left of the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white cylindrical block upwards from the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the desktop near the wooden peg board."}, {"label": "goal", "start_step": 209, "end_step": 312, "id": "94b36280-5b23-4822-9a26-d52245f57eff"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right 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hand attempts to insert the green cubic object onto the purple bottle tip, the object falls onto the table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2759, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the fallen green cubic object."}, {"label": "subtasks", "start_step": 2760, "end_step": 2804, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic object on the black table surface."}, {"label": "subtasks", "start_step": 2805, "end_step": 2849, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green cubic object on the table surface."}, {"label": "subtasks", 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remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down onto the aligned peg until it is supported by the peg."}, {"label": "subtasks", "start_step": 1012, "end_step": 1071, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1319, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base by lowering it down to fit."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the green square block on the desktop."}, {"label": "subtasks", "start_step": 1350, "end_step": 1424, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the desktop."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it towards the wooden rack with vertical rods."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with a vertical rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1687, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the vertical pillar on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1747, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1837, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the tabletop and transports it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1860, "end_step": 1934, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto a peg of the wooden peg board."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white ring on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2010, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white ring on the table, fingers adjust to form stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white ring upwards from the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the empty slot on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block into the empty slot on the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted in the wooden rack slot."}, {"label": "subtasks", "start_step": 2175, "end_step": 2219, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden rack towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2265, "end_step": 2324, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block away from the table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2400, "end_step": 2504, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2505, "end_step": 2564, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the gray table surface."}, {"label": "subtasks", "start_step": 2565, "end_step": 2647, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2648, "end_step": 2661, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic object away from the black table surface."}, {"label": "subtasks", "start_step": 2662, "end_step": 2684, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cubic object towards the bottle with purple tip on the wooden tray."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:failed_insert: Right hand attempts to insert the green cubic object onto the purple bottle tip, the object falls onto the table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2759, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the fallen green cubic object."}, {"label": "subtasks", "start_step": 2760, "end_step": 2804, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic object on the black table surface."}, {"label": "subtasks", "start_step": 2805, "end_step": 2849, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green cubic object on the table surface."}, {"label": "subtasks", "start_step": 2850, "end_step": 2917, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly away from the green cubic object."}, {"label": "subtasks", "start_step": 2918, "end_step": 2984, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic object on the table again."}, {"label": "subtasks", "start_step": 2985, "end_step": 2999, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic object away from the table surface."}, {"label": "subtasks", "start_step": 3000, "end_step": 3037, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cubic object towards the bottle with purple tip."}, {"label": "subtasks", "start_step": 3038, "end_step": 3224, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand repeatedly attempts to align and insert the green cubic object onto the purple bottle tip."}, {"label": "subtasks", "start_step": 3225, "end_step": 3291, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cubic object back to the black table surface."}, {"label": "subtasks", "start_step": 3292, "end_step": 3404, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green cubic object placed on the table."}, {"label": "subtasks", "start_step": 3405, "end_step": 3419, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic object away from the table surface."}, {"label": "subtasks", "start_step": 3420, "end_step": 3487, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cubic object towards the bottle with purple tip."}, {"label": "subtasks", "start_step": 3488, "end_step": 3584, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the green cubic object onto the purple bottle tip and adjusts its position to fit stably."}], "episode_index": 46}
+{"source_uid": "6a25fc1e502203b2", "num_frames": 2812, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: other:move_to_idle_position: Left hand moves upward from its initial left-side position to the upper left stationary position, remaining empty with fingers extended. | Right hand: reach: Right hand moves from its initial right-side position, first upward then downward, toward the green hexagonal block on the table in front of the wooden base, with fingers open as it approaches the target block."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "a1fd456e-3666-4ebc-94de-ef369ff54c43"}, {"label": "valid", "start_step": 0, "end_step": 2780, "id": "lYS8KGmhqeZwx2CS_DySg"}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves from its initial right-side position, first upward then downward, toward the green hexagonal block on the table in front of the wooden base, with fingers open as it approaches the target block."}, {"label": "subtasks", "start_step": 105, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table, making small adjustments with fingers and wrist to establish a stable grip, while the block remains on the table surface."}, {"label": "goal", "start_step": 153, "end_step": 264, "id": "d5d9e53f-47e7-41b6-830f-e82c131afa70"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward until it is completely separated from the tabletop support."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand transports the grasped green hexagonal block upward to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted onto the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts its grip on the green hexagonal block mounted on the leftmost purple peg, slightly tightening fingers to secure the block."}, {"label": "goal", "start_step": 265, "end_step": 432, "id": "c2ca0b2d-14d8-451a-afb8-7790e5103500"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the secured green hexagonal block away from the leftmost purple peg, moving downward toward the empty lower left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand places the green hexagonal block onto the lower left purple peg of the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block at the left front of the table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small finger position adjustments to form a stable grip."}, {"label": "goal", "start_step": 433, "end_step": 536, "id": "e15693ca-39cb-426d-96fe-dea40b569c13"}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark work surface and moves it upward to position it directly above an unoccupied purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the unoccupied purple peg and lowers the nut to fit it onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: press: Right hand presses the top of the white cylindrical block on the purple peg downward to seat it fully on the wooden assembly base."}, {"label": "goal", "start_step": 537, "end_step": 648, "id": "9baa8a65-e727-4078-9722-83e945904d36"}, {"label": "subtasks", "start_step": 562, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward empty from the assembly base toward the leftmost loose white hexagonal block placed on the dark work surface."}, {"label": "subtasks", "start_step": 608, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the leftmost loose white hexagonal block on the work surface to form a stable grip."}, {"label": "goal", "start_step": 649, "end_step": 840, "id": "5f19664e-3a95-41fe-9f02-5e40db5da531"}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hollow block vertically upward to separate it from the black table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped white hollow block upward to the position directly above the unoccupied purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hollow block with the purple rod, and lowers the block to fit onto the rod until it rests on the green base block below."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the assembled white hollow block on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 840, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to release the grasped white hollow block, separating the hand from the block."}, {"label": "goal", "start_step": 841, "end_step": 968, "id": "1f07ade5-2040-46e8-b835-e057acbe55a7"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper position to approach the left white hexagonal nut in front of the wooden block base."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the left white hexagonal nut in front of the wooden block base, with slight adjustments of fingers and wrist to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the left white hexagonal nut in front of the wooden block base without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand grips the white cylindrical block and lifts it upward to fully separate it from the dark table surface."}, {"label": "goal", "start_step": 969, "end_step": 1048, "id": "a0f0f97b-7cd0-4d7c-88b1-c8ef518b2582"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white cylindrical block through the air toward the empty purple peg on the light wooden assembly base."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the target purple peg, then lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the fitted white cylindrical block on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward onto the purple rod on the wooden base, and opens fingers to release the supported block."}, {"label": "goal", "start_step": 1049, "end_step": 1136, "id": "d32c68a1-5dfe-4857-91aa-4f33ed7a21d9"}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the green hollow block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the green hollow block on the dark table surface to form a grip."}, {"label": "goal", "start_step": 1137, "end_step": 1240, "id": "afff9f99-588b-45fe-b7cc-0a63deff75dd"}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the table surface and moves it upward toward the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand holds the green hexagonal block, aligns its central hole with the purple post on the wooden assembly, and makes slight positional and rotational adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward along the purple rod to set it on top of the green block on the wooden base, fingers opening to release the positioned block."}, {"label": "goal", "start_step": 1241, "end_step": 1368, "id": "2dfe9ec0-ff57-4f68-b51d-445e0a1791ba"}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward across the black table surface toward the white hexagonal nut adjacent to the green square block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the held white cylindrical block upward, raising it fully off the black table surface."}, {"label": "goal", "start_step": 1369, "end_step": 1472, "id": "9f934e95-2d78-4d62-947a-6b6b8a08ffb4"}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand transports the held white cylindrical block upward and toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the held white cylindrical block with the purple rod and lowers it to fit onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand lowers the white cylindrical block onto the corresponding vertical rod on the wooden assembly base until the block is supported by the block below, opens fingers to release grip on the block."}, {"label": "goal", "start_step": 1473, "end_step": 1648, "id": "7c51ec6a-ea86-4c82-a23e-9d0b6d48c0c0"}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block placed next to the wooden assembly base on the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table, with slight wrist adjustment to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table near the wooden assembly base without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the position directly above the purple rod on the wooden block base."}, {"label": "goal", "start_step": 1649, "end_step": 1712, "id": "3308c5c7-1eb2-4e2a-9f66-4db2fc90418c"}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod to form the nested assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the purple rod on the wooden block stand, opens fingers to release the block."}, {"label": "goal", "start_step": 1713, "end_step": 1856, "id": "896d03f9-7edd-4c37-9756-f7b026fed09d"}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty from the wooden block stand area toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to establish a stable grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hollow cylinder resting on the dark table surface."}, {"label": "goal", "start_step": 1857, "end_step": 1936, "id": "e13d3895-a973-4286-8724-2141ea8781c4"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table surface and moves it upward toward the purple rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple rod and lowers the cylinder to fit onto the rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand positions the white-and-green cylindrical block onto the purple peg on the wooden tray and releases grip to leave the block supported by the tray."}, {"label": "goal", "start_step": 1937, "end_step": 2128, "id": "91f9fa00-578a-4429-8c8f-74735255ba7c"}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty across the black work surface toward the small green cube."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the small green cube on the work surface, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand maintains a closed grasp on the green hexagonal block, lifting it vertically upward until the block is fully separated from the dark work surface."}, {"label": "goal", "start_step": 2129, "end_step": 2216, "id": "4f19f3b0-84dd-4614-b001-49037906f60c"}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green hexagonal block upward and leftward across the dark work surface, moving it to the position directly above the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 2168, "end_step": 2219, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple vertical rod, lowering the block to nest onto the rod to enter the assembled state."}, {"label": "home", "start_step": 2781, "end_step": 2811, "id": "cdlzwiZlPMGdlu4fbfA3g"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: other:move_to_idle_position: Left hand moves upward from its initial left-side position to the upper left stationary position, remaining empty with fingers extended. | Right hand: reach: Right hand moves from its initial right-side position, first upward then downward, toward the green hexagonal block on the table in front of the wooden base, with fingers open as it approaches the target block."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves from its initial right-side position, first upward then downward, toward the green hexagonal block on the table in front of the wooden base, with fingers open as it approaches the target block."}, {"label": "subtasks", "start_step": 105, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table, making small adjustments with fingers and wrist to establish a stable grip, while the block remains on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward until it is completely separated from the tabletop support."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand transports the grasped green hexagonal block upward to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted onto the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts its grip on the green hexagonal block mounted on the leftmost purple peg, slightly tightening fingers to secure the block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the secured green hexagonal block away from the leftmost purple peg, moving downward toward the empty lower left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand places the green hexagonal block onto the lower left purple peg of the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block at the left front of the table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small finger position adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark work surface and moves it upward to position it directly above an unoccupied purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the unoccupied purple peg and lowers the nut to fit it onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: press: Right hand presses the top of the white cylindrical block on the purple peg downward to seat it fully on the wooden assembly base."}, {"label": "subtasks", "start_step": 562, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward empty from the assembly base toward the leftmost loose white hexagonal block placed on the dark work surface."}, {"label": "subtasks", "start_step": 608, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the leftmost loose white hexagonal block on the work surface to form a stable grip."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hollow block vertically upward to separate it from the black table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped white hollow block upward to the position directly above the unoccupied purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hollow block with the purple rod, and lowers the block to fit onto the rod until it rests on the green base block below."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the assembled white hollow block on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 840, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to release the grasped white hollow block, separating the hand from the block."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper position to approach the left white hexagonal nut in front of the wooden block base."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the left white hexagonal nut in front of the wooden block base, with slight adjustments of fingers and wrist to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the left white hexagonal nut in front of the wooden block base without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand grips the white cylindrical block and lifts it upward to fully separate it from the dark table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white cylindrical block through the air toward the empty purple peg on the light wooden assembly base."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the target purple peg, then lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the fitted white cylindrical block on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward onto the purple rod on the wooden base, and opens fingers to release the supported block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the green hollow block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the green hollow block on the dark table surface to form a grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the table surface and moves it upward toward the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand holds the green hexagonal block, aligns its central hole with the purple post on the wooden assembly, and makes slight positional and rotational adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward along the purple rod to set it on top of the green block on the wooden base, fingers opening to release the positioned block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward across the black table surface toward the white hexagonal nut adjacent to the green square block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the held white cylindrical block upward, raising it fully off the black table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand transports the held white cylindrical block upward and toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the held white cylindrical block with the purple rod and lowers it to fit onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand lowers the white cylindrical block onto the corresponding vertical rod on the wooden assembly base until the block is supported by the block below, opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block placed next to the wooden assembly base on the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table, with slight wrist adjustment to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table near the wooden assembly base without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod to form the nested assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the purple rod on the wooden block stand, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty from the wooden block stand area toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to establish a stable grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hollow cylinder resting on the dark table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table surface and moves it upward toward the purple rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple rod and lowers the cylinder to fit onto the rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand positions the white-and-green cylindrical block onto the purple peg on the wooden tray and releases grip to leave the block supported by the tray."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty across the black work surface toward the small green cube."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the small green cube on the work surface, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand maintains a closed grasp on the green hexagonal block, lifting it vertically upward until the block is fully separated from the dark work surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green hexagonal block upward and leftward across the dark work surface, moving it to the position directly above the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 2168, "end_step": 2219, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple vertical rod, lowering the block to nest onto the rod to enter the assembled state."}], "episode_index": 47}
+{"source_uid": "84847303d48da81b", "num_frames": 2525, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the table in front of the left side of the wooden rack, moving leftward and downward with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "56d022b2-7201-44e4-9e35-7905e9c32712"}, {"label": "valid", "start_step": 0, "end_step": 2497, "id": "_XAyilDDfVSZr9bcHSvBr"}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers closing around the block to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 153, "end_step": 296, "id": "53de15d6-6191-4cd3-955c-638ddcc84f3f"}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it toward the wooden peg board on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden peg board, moving downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green hexagonal block onto the leftmost purple peg base and releases its grip."}, {"label": "goal", "start_step": 297, "end_step": 440, "id": "fc7336bd-f168-4d0d-a1e1-2ad9df1ed3aa"}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 441, "end_step": 520, "id": "a3d197c9-2f29-471b-816f-4e74e2d448ab"}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it toward the purple peg set."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning its hole with the peg and inserting downward."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 521, "end_step": 664, "id": "34d1616d-605f-4c1c-90a6-f56105c2c3ea"}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the front-left area of the table."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the front-left area of the table, with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 665, "end_step": 760, "id": "bbe18479-a9a3-426b-a941-573e4f30d0ac"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal object from the table and transports it upward and toward the wooden rack with purple vertical rods."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal object with the front-left purple rod on the wooden rack, aligning the hole and lowering the object onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cylindrical block down onto the leftmost purple vertical post and releases the block."}, {"label": "goal", "start_step": 761, "end_step": 1008, "id": "e94a9f8f-dd49-4af7-bbde-6a64e3503666"}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty downward and rightward to approach the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table and adjusts its grip slightly."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table surface."}, {"label": "goal", "start_step": 1009, "end_step": 1080, "id": "f8a1795a-e85a-4816-a092-15a35ddec83e"}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block with the middle purple vertical rod and releases it."}, {"label": "goal", "start_step": 1081, "end_step": 1192, "id": "1ff054e1-c008-44a1-af19-d438741e6910"}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow cube on the dark table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1259, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow cube on the dark table surface, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1193, "end_step": 1328, "id": "c5747e1a-2126-4b6a-814e-6ee1cfab638b"}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it upward to the area above the pegboard."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block downward along the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1329, "end_step": 1480, "id": "12eb4127-862e-4dea-a8a7-d0983e3cd27e"}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1481, "end_step": 1552, "id": "e7010eea-4e99-4214-9969-d60cc32ac6f6"}, {"label": "subtasks", "start_step": 1500, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple rod by lowering it to fit over the rod."}, {"label": "goal", "start_step": 1553, "end_step": 1696, "id": "5ff2f982-7c7e-45c3-a286-95a96e2cdbc7"}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the green post, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1657, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1697, "end_step": 1848, "id": "50ca7af4-67a7-4c02-8cc8-0a551afdca75"}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part off the table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1778, "end_step": 1844, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple vertical rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the wooden block rack toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1849, "end_step": 1976, "id": "55074014-2598-4212-b0bc-8a9662761b6a"}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white ring-shaped object on the table next to the green block, adjusting fingers to form a stable grip while the object stays on the table surface."}, {"label": "goal", "start_step": 1977, "end_step": 2080, "id": "65be0acd-f279-44c9-bc9c-b436a1f517b9"}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring-shaped object off the table and transports it leftward and upward toward the pegboard with multiple vertical pegs."}, {"label": "subtasks", "start_step": 2002, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring-shaped object with the purple peg on the pegboard by aligning the central hole and lowering the object down along the peg."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area of the white bottle group on the wooden tray to approach the green cube on the table."}, {"label": "goal", "start_step": 2081, "end_step": 2184, "id": "1138a5ca-a19d-405a-afd6-dd7dac575062"}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cube on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green cubic block on the black table, with fingers slightly closing to stabilize the grip while the block stays on the table surface."}, {"label": "goal", "start_step": 2185, "end_step": 2464, "id": "1a707e49-f6e9-475a-9ada-dcd3ec766ec8"}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the wooden rack with white cylindrical objects."}, {"label": "subtasks", "start_step": 2228, "end_step": 2421, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green cubic block with the purple-topped white post on the wooden rack, adjusting position and orientation to fit the block onto the post for assembly."}, {"label": "subtasks", "start_step": 2422, "end_step": 2451, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening gradually until the grip is fully released and the hand separates from the block."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the assembly position, moving slightly to the right while staying empty."}, {"label": "home", "start_step": 2498, "end_step": 2524, "id": "Mhf-bQQuHFMNbSFPBLDnB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the table in front of the left side of the wooden rack, moving leftward and downward with fingers open."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers closing around the block to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it toward the wooden peg board on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden peg board, moving downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green hexagonal block onto the leftmost purple peg base and releases its grip."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it toward the purple peg set."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning its hole with the peg and inserting downward."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the front-left area of the table."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the front-left area of the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal object from the table and transports it upward and toward the wooden rack with purple vertical rods."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal object with the front-left purple rod on the wooden rack, aligning the hole and lowering the object onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cylindrical block down onto the leftmost purple vertical post and releases the block."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty downward and rightward to approach the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table and adjusts its grip slightly."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block with the middle purple vertical rod and releases it."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow cube on the dark table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1259, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow cube on the dark table surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it upward to the area above the pegboard."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block downward along the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple rod by lowering it to fit over the rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the green post, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1657, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part off the table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1778, "end_step": 1844, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple vertical rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the wooden block rack toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white ring-shaped object on the table next to the green block, adjusting fingers to form a stable grip while the object stays on the table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring-shaped object off the table and transports it leftward and upward toward the pegboard with multiple vertical pegs."}, {"label": "subtasks", "start_step": 2002, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring-shaped object with the purple peg on the pegboard by aligning the central hole and lowering the object down along the peg."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area of the white bottle group on the wooden tray to approach the green cube on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cube on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green cubic block on the black table, with fingers slightly closing to stabilize the grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the wooden rack with white cylindrical objects."}, {"label": "subtasks", "start_step": 2228, "end_step": 2421, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green cubic block with the purple-topped white post on the wooden rack, adjusting position and orientation to fit the block onto the post for assembly."}, {"label": "subtasks", "start_step": 2422, "end_step": 2451, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening gradually until the grip is fully released and the hand separates from the block."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the assembly position, moving slightly to the right while staying empty."}], "episode_index": 48}
+{"source_uid": "ac0ff57ccf1a5f3d", "num_frames": 2611, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the table in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 216, "id": "56eab6ff-15c7-4c83-8aff-2d13aee985cc"}, {"label": "valid", "start_step": 0, "end_step": 2579, "id": "oP_IXEDLILpvGyzs_6wqH"}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand aligns the grasped green hexagonal block with the leftmost purple post on the wooden base and inserts it onto the post."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop near the wooden base."}, {"label": "goal", "start_step": 217, "end_step": 344, "id": "1ca761bc-6cc7-4175-bbb7-387f38bc5dc5"}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: place: Right hand places the green block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 345, "end_step": 480, "id": "e9993759-9faa-4646-b32a-c7190175bc8d"}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downward towards the white block on the dark table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the dark table surface."}, {"label": "goal", "start_step": 481, "end_step": 624, "id": "cb26be62-5a3f-4a0e-8148-293e546ce9d8"}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 651, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it downwards onto the post."}, {"label": "goal", "start_step": 625, "end_step": 744, "id": "01612e65-bef4-4338-96dc-c7b9efbbecfc"}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downward towards the white hollow cylinder placed on the black tabletop."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow cylinder on the black tabletop."}, {"label": "goal", "start_step": 745, "end_step": 880, "id": "42f01157-d9df-43b2-885f-246aedae9c85"}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden rack, aligning the block hole with the rod."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reorient: Right hand adjusts the orientation of the white cylindrical block on the purple rod of the upper middle wooden base."}, {"label": "goal", "start_step": 881, "end_step": 984, "id": "a0a6469b-ae9c-4b65-b4cf-968bd5a2e5bb"}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1011, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form stable grip."}, {"label": "goal", "start_step": 985, "end_step": 1136, "id": "b391d5b5-bbe8-4276-8971-e6863778dea4"}, {"label": "subtasks", "start_step": 1012, "end_step": 1041, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the empty purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the empty purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1137, "end_step": 1248, "id": "86b6587d-5b23-41fa-87d2-7fe6c4127cdf"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the green cubic block on the table surface."}, {"label": "goal", "start_step": 1249, "end_step": 1408, "id": "dc68eec4-33e2-4913-8f6d-10a86921c9b7"}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the green cubic object from the black tabletop and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1447, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the green cubic object with the purple rod on the wooden rack by lowering it onto the rod."}, {"label": "goal", "start_step": 1409, "end_step": 1520, "id": "00eb2fed-65bd-4e3f-aa89-6c6938f7e7c3"}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1521, "end_step": 1664, "id": "02bbb37a-e428-4653-b594-f6ab7953ded1"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift: Right hand lifts the white cylindrical object off the black tabletop."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand aligns and inserts the white cylindrical object onto a peg of the wooden rack."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: hold: Right hand holds the white cylindrical object on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the corresponding peg on the wooden base."}, {"label": "goal", "start_step": 1665, "end_step": 1912, "id": "1b6dc1a5-8082-4f94-92c4-3fb36515543e"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the desktop."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the desktop."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift: Right hand lifts the grasped white cylindrical block upward."}, {"label": "goal", "start_step": 1913, "end_step": 2024, "id": "86b564bd-1e69-4949-84f7-0a0d404eb026"}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white cylinder with the purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: release: Right hand releases the white cylinder fitted on the purple rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downwards toward the white hexagonal block on the black table without contact."}, {"label": "goal", "start_step": 2025, "end_step": 2144, "id": "fa861f45-1de7-42d7-b9bc-23c28844e46b"}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand fingers close and adjust around the white hexagonal block to form a stable grip."}, {"label": "subtasks", "start_step": 2108, "end_step": 2144, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "goal", "start_step": 2145, "end_step": 2240, "id": "af11c053-c276-4ff4-885b-8a8e5fb7e3a5"}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: transport: Right hand transports the white block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2234, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white block onto the purple rod by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: place: Right hand places the white block with purple rod onto the top of the bottle on the wooden tray."}, {"label": "goal", "start_step": 2241, "end_step": 2384, "id": "4001c88e-7c79-4d8f-a890-770affc4d8ac"}, {"label": "subtasks", "start_step": 2258, "end_step": 2301, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downward toward the green cube on the table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: hold: Right hand holds the green cube on the table surface without moving."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green block on the dark table surface."}, {"label": "goal", "start_step": 2385, "end_step": 2528, "id": "42be582d-7252-46c4-aed5-7ba2ea26ed3d"}, {"label": "subtasks", "start_step": 2408, "end_step": 2421, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift: Right hand lifts the green block up away from the dark table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2451, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: transport: Right hand transports the green block towards the rightmost white cylinder with a purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2452, "end_step": 2481, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and lowers the block onto the white cylinder."}, {"label": "subtasks", "start_step": 2482, "end_step": 2534, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it on the white cylinder."}, {"label": "home", "start_step": 2580, "end_step": 2610, "id": "75FxEHnnh_zpOuHVzIcnK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand aligns the grasped green hexagonal block with the leftmost purple post on the wooden base and inserts it onto the post."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop near the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: place: Right hand places the green block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downward towards the white block on the dark table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the dark table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 651, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it downwards onto the post."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downward towards the white hollow cylinder placed on the black tabletop."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow cylinder on the black tabletop."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden rack, aligning the block hole with the rod."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reorient: Right hand adjusts the orientation of the white cylindrical block on the purple rod of the upper middle wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1011, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form stable grip."}, {"label": "subtasks", "start_step": 1012, "end_step": 1041, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the empty purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the empty purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the green cubic object from the black tabletop and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1447, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the green cubic object with the purple rod on the wooden rack by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift: Right hand lifts the white cylindrical object off the black tabletop."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand aligns and inserts the white cylindrical object onto a peg of the wooden rack."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: hold: Right hand holds the white cylindrical object on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the corresponding peg on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the desktop."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the desktop."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift: Right hand lifts the grasped white cylindrical block upward."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white cylinder with the purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: release: Right hand releases the white cylinder fitted on the purple rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downwards toward the white hexagonal block on the black table without contact."}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand fingers close and adjust around the white hexagonal block to form a stable grip."}, {"label": "subtasks", "start_step": 2108, "end_step": 2144, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: transport: Right hand transports the white block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2234, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white block onto the purple rod by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: place: Right hand places the white block with purple rod onto the top of the bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2258, "end_step": 2301, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downward toward the green cube on the table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: hold: Right hand holds the green cube on the table surface without moving."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green block on the dark table surface."}, {"label": "subtasks", "start_step": 2408, "end_step": 2421, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift: Right hand lifts the green block up away from the dark table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2451, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: transport: Right hand transports the green block towards the rightmost white cylinder with a purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2452, "end_step": 2481, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and lowers the block onto the white cylinder."}, {"label": "subtasks", "start_step": 2482, "end_step": 2534, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it on the white cylinder."}], "episode_index": 49}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/annotations.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/annotations.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..00d776d568834503e8c337c43284325990d19e3c
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/annotations.jsonl
@@ -0,0 +1,50 @@
+{"source_uid": "94de2e761d691e9b", "num_frames": 2787, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green cube on the left front area of the table, approaching the cube without making contact."}, {"label": "goal", "start_step": 0, "end_step": 181, "id": "a44b1882-a62b-4959-b436-291fccaa2e7d"}, {"label": "valid", "start_step": 0, "end_step": 2755, "id": "OFexgZ0v3LmEIRAi90BV8"}, {"label": "subtasks", "start_step": 112, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the left front of the table, with fingers closing and adjusting to form a stable grip on the cube."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the left front of the table without moving, the cube remains on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the black table, adjusting its gripper to form a stable grip around the block."}, {"label": "goal", "start_step": 182, "end_step": 396, "id": "36569ba6-7405-4760-8961-869f0299a56e"}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to position it above the leftmost peg of the wooden stand."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost vertical peg of the wooden stand and lowers it onto the peg to establish the assembly fit."}, {"label": "subtasks", "start_step": 262, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block downward along the leftmost peg of the wooden stand, applying pressure to push the block further down the peg."}, {"label": "goal", "start_step": 397, "end_step": 526, "id": "bb7c3572-ca8c-45a7-8f2b-3cbdce573f95"}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts to form a stable grasp."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the pegboard."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal piece off the table surface."}, {"label": "goal", "start_step": 527, "end_step": 726, "id": "623114ae-0d1f-4a35-b0d8-b8da6f5bf138"}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_mate: Right hand transports the white hexagonal piece to the leftmost peg of the pegboard and mates it onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg board area toward the left white hexagonal block on the table."}, {"label": "goal", "start_step": 727, "end_step": 856, "id": "38afff48-4b8b-4176-bd2c-d9e21b046da6"}, {"label": "subtasks", "start_step": 788, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table and transports it upward and leftward to the top of the leftmost purple peg on the wooden board."}, {"label": "goal", "start_step": 857, "end_step": 991, "id": "479b05cb-e332-4b30-851d-e415f26b7ebf"}, {"label": "subtasks", "start_step": 878, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal part downward along the leftmost purple peg until it reaches the green base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part by opening its fingers and separating from the part."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block in front of the wooden base."}, {"label": "goal", "start_step": 992, "end_step": 1106, "id": "e1a8dd12-e702-45d3-b56f-89d0d847e476"}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without any observable movement."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to stabilize the grip while the block stays on the table surface."}, {"label": "goal", "start_step": 1107, "end_step": 1221, "id": "2b14ca4d-0340-430e-89ae-2119b575d29e"}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position right above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg by lowering it onto the peg, then releases the block and moves slightly upward."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal hole piece onto the middle purple vertical peg."}, {"label": "goal", "start_step": 1222, "end_step": 1316, "id": "cd1e291f-843f-4a95-9aed-be09d7edf892"}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green square hole piece on the table surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square hole piece on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1317, "end_step": 1426, "id": "63907f29-fec2-4966-91e1-d7b8598a71b6"}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the work surface and transports it upward and leftward toward the peg board."}, {"label": "subtasks", "start_step": 1342, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the peg board by aligning and lowering it."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the peg board without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the front pegboard and releases it with fingers opening."}, {"label": "goal", "start_step": 1427, "end_step": 1571, "id": "c47f2d5c-778e-4dda-8ce6-a228123d1c9f"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1537, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 1572, "end_step": 1701, "id": "8e38aeee-3e3f-44ac-a813-ab11bcfb1f27"}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the black table towards the vertical peg above the green block on the wooden base."}, {"label": "subtasks", "start_step": 1598, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the vertical peg above the green block, adjusting position to fit the block down onto the peg."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple vertical rod and releases its grip."}, {"label": "goal", "start_step": 1702, "end_step": 1881, "id": "cecfe302-3fd8-417c-8536-667fbd63904a"}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the white hexagonal block on the table surface about 90 degrees to make it lie flat."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block lying on the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the small white hollow cube on the right side of the table and lifts it off the table surface."}, {"label": "goal", "start_step": 1882, "end_step": 2201, "id": "2094266b-decb-4a63-9998-0d4ef6788cdc"}, {"label": "subtasks", "start_step": 1905, "end_step": 1971, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the small white hollow cube to the position above the table next to the other white hollow cube."}, {"label": "subtasks", "start_step": 1972, "end_step": 1987, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the small white hollow cube on the table surface and releases its grasp."}, {"label": "subtasks", "start_step": 1988, "end_step": 2077, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the small white hollow cube on the table without moving."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the small white hollow cube on the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the small white hollow cube upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2189, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the small white hollow cube with the purple rod by lowering the cube onto the rod to fit the rod through the cube's hole."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 2202, "end_step": 2331, "id": "13ba25ef-ee2b-46ea-a8b5-b26f465fe81b"}, {"label": "subtasks", "start_step": 2228, "end_step": 2264, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the right side of the table."}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white perforated block from the black table surface."}, {"label": "goal", "start_step": 2332, "end_step": 2491, "id": "8de15fa9-c4cd-4cc8-9d4f-15f3c2378ff6"}, {"label": "subtasks", "start_step": 2340, "end_step": 2369, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white perforated block upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple rod and inserts it downward onto the rod to fit with the existing block below."}, {"label": "subtasks", "start_step": 2415, "end_step": 2489, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white perforated block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the rightmost stacked column."}, {"label": "goal", "start_step": 2492, "end_step": 2616, "id": "16619ce1-2a66-4ab9-89cb-5699c30178de"}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark gray table surface."}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark gray table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the tabletop."}, {"label": "goal", "start_step": 2617, "end_step": 2716, "id": "872668e9-9e14-48e1-9d85-2faacf471ab0"}, {"label": "subtasks", "start_step": 2625, "end_step": 2654, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring upward and leftward to the top of the rightmost bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2655, "end_step": 2729, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the green ring onto the rightmost bottle on the wooden tray and releases the green ring."}, {"label": "home", "start_step": 2756, "end_step": 2786, "id": "uzfv3yh8kOsSNkTMQdd9F"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green cube on the left front area of the table, approaching the cube without making contact."}, {"label": "subtasks", "start_step": 112, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the left front of the table, with fingers closing and adjusting to form a stable grip on the cube."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the left front of the table without moving, the cube remains on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the black table, adjusting its gripper to form a stable grip around the block."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the black table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to position it above the leftmost peg of the wooden stand."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost vertical peg of the wooden stand and lowers it onto the peg to establish the assembly fit."}, {"label": "subtasks", "start_step": 262, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block downward along the leftmost peg of the wooden stand, applying pressure to push the block further down the peg."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts to form a stable grasp."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the pegboard."}, {"label": "subtasks", "start_step": 525, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal piece off the table surface."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_mate: Right hand transports the white hexagonal piece to the leftmost peg of the pegboard and mates it onto the peg."}, {"label": "subtasks", "start_step": 555, "end_step": 719, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 787, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg board area toward the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 788, "end_step": 839, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 855, "end_step": 877, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table and transports it upward and leftward to the top of the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 878, "end_step": 891, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal part downward along the leftmost purple peg until it reaches the green base."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part by opening its fingers and separating from the part."}, {"label": "subtasks", "start_step": 990, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block in front of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without any observable movement."}, {"label": "subtasks", "start_step": 1095, "end_step": 1131, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to stabilize the grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position right above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg by lowering it onto the peg, then releases the block and moves slightly upward."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal hole piece onto the middle purple vertical peg."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green square hole piece on the table surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square hole piece on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the work surface and transports it upward and leftward toward the peg board."}, {"label": "subtasks", "start_step": 1342, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the peg board by aligning and lowering it."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the peg board without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the front pegboard and releases it with fingers opening."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1537, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1597, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the black table towards the vertical peg above the green block on the wooden base."}, {"label": "subtasks", "start_step": 1598, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the vertical peg above the green block, adjusting position to fit the block down onto the peg."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple vertical rod and releases its grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the white hexagonal block on the table surface about 90 degrees to make it lie flat."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block lying on the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the small white hollow cube on the right side of the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1971, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the small white hollow cube to the position above the table next to the other white hollow cube."}, {"label": "subtasks", "start_step": 1972, "end_step": 1987, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the small white hollow cube on the table surface and releases its grasp."}, {"label": "subtasks", "start_step": 1988, "end_step": 2077, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the small white hollow cube on the table without moving."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the small white hollow cube on the table and lifts it off the table surface."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the small white hollow cube upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2189, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the small white hollow cube with the purple rod by lowering the cube onto the rod to fit the rod through the cube's hole."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 2228, "end_step": 2264, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the right side of the table."}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white perforated block from the black table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2369, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white perforated block upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2370, "end_step": 2414, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple rod and inserts it downward onto the rod to fit with the existing block below."}, {"label": "subtasks", "start_step": 2415, "end_step": 2489, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white perforated block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the rightmost stacked column."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark gray table surface."}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark gray table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2610, "end_step": 2624, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the tabletop."}, {"label": "subtasks", "start_step": 2625, "end_step": 2654, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring upward and leftward to the top of the rightmost bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2655, "end_step": 2729, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the green ring onto the rightmost bottle on the wooden tray and releases the green ring."}], "episode_index": 0}
+{"source_uid": "3132acd176b20d0d", "num_frames": 2703, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block at the left side of the wooden base on the black table with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 185, "id": "1107ba27-9bfe-4d22-a04d-6f307cf35572"}, {"label": "valid", "start_step": 0, "end_step": 2672, "id": "QczAIHaCg5xmDIIJlaSVz"}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the wooden base with purple pegs and a green block from the table surface."}, {"label": "goal", "start_step": 186, "end_step": 380, "id": "3305f421-c3f0-4890-84fe-9f3b25ca6614"}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the wooden base upward to align purple pegs with holes of upper white blocks."}, {"label": "subtasks", "start_step": 248, "end_step": 374, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the leftmost purple peg to secure white blocks on the pegs."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 381, "end_step": 500, "id": "67250679-177c-44bc-aeb6-bab7adb2205d"}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 501, "end_step": 785, "id": "9b726ad0-61ed-4bb7-9a00-dcfda9890e30"}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the top of the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white hexagonal block down along the purple rod to the green base and releases the block."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black desktop."}, {"label": "goal", "start_step": 786, "end_step": 915, "id": "44435a3d-e777-4f6a-95f2-56b12cce96a4"}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the left white hexagonal block on the black desktop."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the black desktop without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 916, "end_step": 1055, "id": "f5863fa7-8d27-4d81-abf1-fae1756726a4"}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the leftmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the leftmost purple post to secure it in place."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the leftmost vertical rod of the wooden base."}, {"label": "goal", "start_step": 1056, "end_step": 1190, "id": "40504fd3-fc69-4442-a899-a3246b737fb6"}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it above the purple peg on the wooden base."}, {"label": "goal", "start_step": 1191, "end_step": 1325, "id": "42829247-7f0e-4d76-b568-46f2b5dca856"}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down to secure it on the purple peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1326, "end_step": 1435, "id": "75cbae82-ca81-44ab-a100-efc17402b547"}, {"label": "subtasks", "start_step": 1342, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black table."}, {"label": "goal", "start_step": 1436, "end_step": 1565, "id": "a92bbd52-94cb-474d-b5c2-c722a0c60f8b"}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and moves it toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1559, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the green block on the wooden base."}, {"label": "goal", "start_step": 1566, "end_step": 1695, "id": "44b27725-7c00-4d9a-a6fa-a5b92d0a71c1"}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers and closes to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1701, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block slightly off the table surface."}, {"label": "goal", "start_step": 1696, "end_step": 1810, "id": "f5ef0d7d-c05b-4427-96a4-2f19a2e49503"}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the target peg on the wooden base."}, {"label": "goal", "start_step": 1811, "end_step": 1905, "id": "e91d03f2-fa9e-4eec-9dfe-4871a9f61578"}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white cylindrical block on the table, adjusting to form a stable grip."}, {"label": "goal", "start_step": 1906, "end_step": 2035, "id": "397a43bf-4d9f-40ed-b896-5ed35032af66"}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the peg on the wooden rack and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2036, "end_step": 2140, "id": "5dba68e6-fdb5-4a33-8634-185b79bb349f"}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "goal", "start_step": 2141, "end_step": 2260, "id": "b6179e1c-9055-465d-a11d-4ffd033761e4"}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block upwards away from the table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block towards the wooden rack at the top middle of the frame."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the target peg on the wooden rack by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical component onto the wooden base and releases the component."}, {"label": "goal", "start_step": 2261, "end_step": 2355, "id": "e414c278-e972-4de5-9ef4-919a716e0dc1"}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2369, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "goal", "start_step": 2356, "end_step": 2630, "id": "8a3a3a0a-f714-4a1d-936d-19e7a116d5ed"}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upwards off the table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block upwards and towards the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2422, "end_step": 2624, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and fits it onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening fingers, separating from the block."}, {"label": "home", "start_step": 2673, "end_step": 2702, "id": "fdvD1NSmz9bg1UNoV95p4"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 119, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block at the left side of the wooden base on the black table with fingers open."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block, making small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the wooden base with purple pegs and a green block from the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the wooden base upward to align purple pegs with holes of upper white blocks."}, {"label": "subtasks", "start_step": 248, "end_step": 374, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the leftmost purple peg to secure white blocks on the pegs."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 547, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the top of the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod by inserting it onto the rod."}, {"label": "subtasks", "start_step": 585, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white hexagonal block down along the purple rod to the green base and releases the block."}, {"label": "subtasks", "start_step": 780, "end_step": 839, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black desktop."}, {"label": "subtasks", "start_step": 840, "end_step": 891, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the left white hexagonal block on the black desktop."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the black desktop without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 930, "end_step": 959, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the leftmost purple post on the wooden rack."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 998, "end_step": 1049, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the leftmost purple post to secure it in place."}, {"label": "subtasks", "start_step": 1050, "end_step": 1079, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the leftmost vertical rod of the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1185, "end_step": 1207, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg."}, {"label": "subtasks", "start_step": 1238, "end_step": 1281, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down to secure it on the purple peg."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1387, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1388, "end_step": 1439, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1454, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and moves it toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg on the wooden base and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1559, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the peg to secure it in place."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the green block on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1694, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers and closes to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1695, "end_step": 1701, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block slightly off the table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1717, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the pegs on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white cylindrical block on the table, adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1928, "end_step": 1964, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 1965, "end_step": 2024, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the peg on the wooden rack and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2091, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2159, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block upwards away from the table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block towards the wooden rack at the top middle of the frame."}, {"label": "subtasks", "start_step": 2190, "end_step": 2249, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the target peg on the wooden rack by aligning and inserting it downwards."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical component onto the wooden base and releases the component."}, {"label": "subtasks", "start_step": 2272, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2369, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upwards off the table surface."}, {"label": "subtasks", "start_step": 2385, "end_step": 2421, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block upwards and towards the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2422, "end_step": 2624, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and fits it onto the bottle to complete assembly."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening fingers, separating from the block."}], "episode_index": 1}
+{"source_uid": "4276749d0acde7f8", "num_frames": 2590, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the left initial position upward to the left home position, with fingers slightly extended. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block near the wooden base, with fingers open during the movement."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "068895c9-40cf-4cd0-8e11-83cb11c6a56d"}, {"label": "valid", "start_step": 0, "end_step": 2558, "id": "STSVI_lVR6jarcx-KmXFf"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block near the wooden base, with fingers open during the movement."}, {"label": "subtasks", "start_step": 98, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a stable grip on the green hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 172, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand moves upward while holding the green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the left of the wooden base to establish a firm grip."}, {"label": "goal", "start_step": 181, "end_step": 315, "id": "405e1335-a878-44c8-9523-4ae4104c301b"}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand moves the gripped green hexagonal block upward to lift it fully off the wooden base surface."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally to position it directly over the leftmost purple peg on the base."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the leftmost purple peg and fit the block onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the green hexagonal block assembled on the leftmost purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple peg to set it on the wooden pegboard base, and opens fingers to release the block."}, {"label": "goal", "start_step": 316, "end_step": 465, "id": "50959482-ca65-4663-8c8d-1d68bf12bd23"}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves empty downward and forward from the pegboard area toward the front-left white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, with small adjustments of fingers and wrist to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the front-left white hexagonal block on the table without observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface and moves it upward to the position above the leftmost purple rod on the wooden assembly stand."}, {"label": "goal", "start_step": 466, "end_step": 630, "id": "250bb5e4-1f55-44c1-98f4-a5737a4b3dec"}, {"label": "subtasks", "start_step": 502, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand adjusts the posture of the white hexagonal block to align its hole with the purple rod, moves the block downward to fit it onto the rod, and makes slight adjustments to secure the assembly."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any observable movement or hand shape change."}, {"label": "goal", "start_step": 631, "end_step": 755, "id": "a29fcd2c-3e5f-455d-abed-f47f8a8f0d3f"}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place_release: Right hand places the grasped white cylindrical block onto the rod of the assembly rack until the block is stably supported, opening fingers to release the block."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves downward from the assembly rack toward the left white hexagonal block on the black work surface, without contacting the target block."}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the left white hexagonal block on the work surface to form a stable grasp, with the block remaining on the work surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the work surface."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand adjusts finger positions and closes around the white hexagonal block on the dark table surface to form a stable grasp."}, {"label": "goal", "start_step": 756, "end_step": 900, "id": "0d81237b-b48c-4056-a269-5e8c2bd45c07"}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface and moves it upward to position directly above the front-left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit it onto the rod, making small positional adjustments during assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand grips the white cylindrical component on the rightmost purple rod of the wooden stand, lifts it upward until the component is fully detached from the rod."}, {"label": "goal", "start_step": 901, "end_step": 1025, "id": "c135b63c-e0ba-498b-b4a6-40edc1e85f2e"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport_place: Right hand carries the detached white cylindrical component downward to the table surface near the front of the wooden stand, placing it onto the table where it is supported by the surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1011, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach_grasp: Right hand moves leftward to approach the white hexagonal component on the table in front of the wooden stand, closes fingers around the component and makes small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand holds the stably gripped white hexagonal component, lifts it upward slightly so it is no longer in contact with the table surface."}, {"label": "goal", "start_step": 1026, "end_step": 1270, "id": "660a164e-7684-4930-bd79-47ba3d5441f4"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport: Right hand carries the white hexagonal block to move toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, and nests the block onto the rod with slight position adjustments until the block is stably fitted."}, {"label": "subtasks", "start_step": 1095, "end_step": 1259, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the white hexagonal block stably fitted on the purple vertical rod without any movement."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to place it onto the middle purple peg of the wooden stand until the block rests on the wooden base, fingers opening to release the block."}, {"label": "goal", "start_step": 1271, "end_step": 1370, "id": "ea82aecc-1452-4f7d-8901-abdcb182958e"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the dark table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand adjusts fingers around the green hexagonal block on the table, closing fingers gradually to establish a grip on the block with minor wrist positioning adjustments."}, {"label": "goal", "start_step": 1371, "end_step": 1495, "id": "5c7031fc-cb83-4dab-a84a-5f85a141a36d"}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the work surface and moves it upward toward the wooden assembly block set."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the middle purple peg on the wooden base, then lowers the block to fit it onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the green hexagonal block seated on the middle purple peg of the wooden assembly base without any observable movement."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: release: Right hand opens fingers to release the green hexagonal block seated on the purple rod, gradually separating from the block."}, {"label": "goal", "start_step": 1496, "end_step": 1625, "id": "cbaca865-4b9a-49b1-8cf0-064e0e642ee0"}, {"label": "subtasks", "start_step": 1522, "end_step": 1574, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves downward with an empty palm, approaching the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand holds the white hexagonal cylinder, lifts it off the dark table surface, and transports it upward to the area above the wooden peg assembly."}, {"label": "goal", "start_step": 1626, "end_step": 1725, "id": "0dc01871-f9df-4619-ba43-9b7a8dba6306"}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand adjusts the position of the white hexagonal cylinder to align its central hole with the target vertical peg, moves the cylinder downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: release: Right hand releases the top white cylindrical block on the wooden block stack, fingers opening to separate from the block surface."}, {"label": "goal", "start_step": 1726, "end_step": 1855, "id": "03ff0734-03a2-4b6e-849a-4abb9d396a17"}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves down and to the right toward the white hexagonal block resting on the table adjacent to the wooden base, fingers held open as it approaches the target."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close around the block and make small adjustments to establish a grip on the object."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "goal", "start_step": 1856, "end_step": 1970, "id": "abf1d77e-9465-4414-a82a-4072c03f45a3"}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport: Right hand carries the white hexagonal block upward and leftward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves from the upper area near the purple rod downward to the position above the white hexagonal nut on the black table, with fingers open."}, {"label": "goal", "start_step": 1971, "end_step": 2085, "id": "d5485227-98b8-4ddb-908c-4d8a1749b908"}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting slightly to form a stable grip."}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the white hexagonal nut on the table without any visible movement of the hand, fingers or the nut."}, {"label": "goal", "start_step": 2086, "end_step": 2290, "id": "7c77895e-d978-454a-9ee0-81b508003cbe"}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand lifts the small white cylindrical block off the dark table surface and moves it upward and left to position it directly above the target slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the small white cylindrical block with the purple rod in the target slot of the wooden holder and lowers the block to insert it onto the rod."}, {"label": "subtasks", "start_step": 2175, "end_step": 2279, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the fully inserted small white cylindrical block in the target slot on the wooden block holder without moving."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: release: Right hand releases the purple cap on the small white bottle placed on the wooden tray, fingers opening to separate from the cap."}, {"label": "goal", "start_step": 2291, "end_step": 2405, "id": "0015c774-fa9d-4f4c-a930-c320952965f8"}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves empty downward toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2348, "end_step": 2399, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the green cube on the table, adjusting finger positions to form a stable grasp while the cube remains on the surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand lifts the grasped green cube upward to separate it from the dark table surface."}, {"label": "goal", "start_step": 2406, "end_step": 2515, "id": "fa4ff4f0-5aad-45cc-8f52-a5b8646d2f54"}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport_mate: Right hand transports the green block toward the top of the purple-capped bottle on the wooden tray, aligning the block's opening with the bottle cap."}, {"label": "subtasks", "start_step": 2452, "end_step": 2481, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place: Right hand lowers the green block downward to place it onto the purple-capped bottle."}, {"label": "subtasks", "start_step": 2482, "end_step": 2519, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the green block steady on top of the purple-capped bottle without observable movement."}, {"label": "home", "start_step": 2559, "end_step": 2589, "id": "jX718YiuKpIR_mzthY-GE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the left initial position upward to the left home position, with fingers slightly extended. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block near the wooden base, with fingers open during the movement."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block near the wooden base, with fingers open during the movement."}, {"label": "subtasks", "start_step": 98, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a stable grip on the green hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 172, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand moves upward while holding the green hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the left of the wooden base to establish a firm grip."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand moves the gripped green hexagonal block upward to lift it fully off the wooden base surface."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally to position it directly over the leftmost purple peg on the base."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the leftmost purple peg and fit the block onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the green hexagonal block assembled on the leftmost purple peg without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple peg to set it on the wooden pegboard base, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves empty downward and forward from the pegboard area toward the front-left white hexagonal block resting on the table."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, with small adjustments of fingers and wrist to form a stable grip."}, {"label": "subtasks", "start_step": 412, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the front-left white hexagonal block on the table without observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface and moves it upward to the position above the leftmost purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 502, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand adjusts the posture of the white hexagonal block to align its hole with the purple rod, moves the block downward to fit it onto the rod, and makes slight adjustments to secure the assembly."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place_release: Right hand places the grasped white cylindrical block onto the rod of the assembly rack until the block is stably supported, opening fingers to release the block."}, {"label": "subtasks", "start_step": 668, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves downward from the assembly rack toward the left white hexagonal block on the black work surface, without contacting the target block."}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the left white hexagonal block on the work surface to form a stable grasp, with the block remaining on the work surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the work surface."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand adjusts finger positions and closes around the white hexagonal block on the dark table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface and moves it upward to position directly above the front-left purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 810, "end_step": 899, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit it onto the rod, making small positional adjustments during assembly."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand grips the white cylindrical component on the rightmost purple rod of the wooden stand, lifts it upward until the component is fully detached from the rod."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport_place: Right hand carries the detached white cylindrical component downward to the table surface near the front of the wooden stand, placing it onto the table where it is supported by the surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1011, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach_grasp: Right hand moves leftward to approach the white hexagonal component on the table in front of the wooden stand, closes fingers around the component and makes small adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand holds the stably gripped white hexagonal component, lifts it upward slightly so it is no longer in contact with the table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport: Right hand carries the white hexagonal block to move toward the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, and nests the block onto the rod with slight position adjustments until the block is stably fitted."}, {"label": "subtasks", "start_step": 1095, "end_step": 1259, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the white hexagonal block stably fitted on the purple vertical rod without any movement."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to place it onto the middle purple peg of the wooden stand until the block rests on the wooden base, fingers opening to release the block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the dark table surface, approaching the target block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand adjusts fingers around the green hexagonal block on the table, closing fingers gradually to establish a grip on the block with minor wrist positioning adjustments."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the work surface and moves it upward toward the wooden assembly block set."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the middle purple peg on the wooden base, then lowers the block to fit it onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the green hexagonal block seated on the middle purple peg of the wooden assembly base without any observable movement."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: release: Right hand opens fingers to release the green hexagonal block seated on the purple rod, gradually separating from the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1574, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves downward with an empty palm, approaching the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1619, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand holds the white hexagonal cylinder, lifts it off the dark table surface, and transports it upward to the area above the wooden peg assembly."}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand adjusts the position of the white hexagonal cylinder to align its central hole with the target vertical peg, moves the cylinder downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: release: Right hand releases the top white cylindrical block on the wooden block stack, fingers opening to separate from the block surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves down and to the right toward the white hexagonal block resting on the table adjacent to the wooden base, fingers held open as it approaches the target."}, {"label": "subtasks", "start_step": 1792, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close around the block and make small adjustments to establish a grip on the object."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport: Right hand carries the white hexagonal block upward and leftward to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves from the upper area near the purple rod downward to the position above the white hexagonal nut on the black table, with fingers open."}, {"label": "subtasks", "start_step": 2040, "end_step": 2061, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting slightly to form a stable grip."}, {"label": "subtasks", "start_step": 2062, "end_step": 2099, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the white hexagonal nut on the table without any visible movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand lifts the small white cylindrical block off the dark table surface and moves it upward and left to position it directly above the target slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the small white cylindrical block with the purple rod in the target slot of the wooden holder and lowers the block to insert it onto the rod."}, {"label": "subtasks", "start_step": 2175, "end_step": 2279, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the fully inserted small white cylindrical block in the target slot on the wooden block holder without moving."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: release: Right hand releases the purple cap on the small white bottle placed on the wooden tray, fingers opening to separate from the cap."}, {"label": "subtasks", "start_step": 2310, "end_step": 2347, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves empty downward toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2348, "end_step": 2399, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the green cube on the table, adjusting finger positions to form a stable grasp while the cube remains on the surface."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand lifts the grasped green cube upward to separate it from the dark table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2451, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport_mate: Right hand transports the green block toward the top of the purple-capped bottle on the wooden tray, aligning the block's opening with the bottle cap."}, {"label": "subtasks", "start_step": 2452, "end_step": 2481, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place: Right hand lowers the green block downward to place it onto the purple-capped bottle."}, {"label": "subtasks", "start_step": 2482, "end_step": 2519, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the green block steady on top of the purple-capped bottle without observable movement."}], "episode_index": 2}
+{"source_uid": "6bab9bdc6417ea44", "num_frames": 2522, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from its initial lower position to the left home position, empty-handed. | Right hand: reach: Right hand moves leftward from the right side of the table toward the central pegboard with stacked pieces, empty-handed."}, {"label": "goal", "start_step": 0, "end_step": 175, "id": "498b6aa2-4e84-4824-827d-ab528375f2e6"}, {"label": "valid", "start_step": 0, "end_step": 2490, "id": "gaPPYvOOcxf3cJq9C217k"}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the central pegboard with stacked pieces, empty-handed."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white piece with a green base on the leftmost peg of the central board."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the grasped piece upward until it is fully separated from the supporting peg."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand carries the grasped piece leftward and downward to the area above the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand adjusts the position and orientation of the grasped piece to align it with the hole of the green hexagonal block."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts and transports the green square block from the black table surface to the position above the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 176, "end_step": 320, "id": "616437a7-62cc-48e0-931b-16ed6cd55399"}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand mates the green square block onto the leftmost purple peg by lowering and fitting it into place."}, {"label": "subtasks", "start_step": 225, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the green square block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 321, "end_step": 440, "id": "3873469b-88a9-476a-9e80-ede843321205"}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the dark table near the small green block, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 441, "end_step": 550, "id": "98208f81-b3e3-4473-8b93-4e9eb286ee64"}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward to the area above the purple pegs on the base."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with a purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 551, "end_step": 660, "id": "2d4043e1-51fc-498e-9a23-5db30c05f6b4"}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand reaches downward toward the left white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport_mate: Right hand transports the white hollow cylindrical part upward and leftward above the black table to the left front purple peg of the wooden pegboard and inserts the part onto the peg."}, {"label": "goal", "start_step": 661, "end_step": 780, "id": "cf4f8843-e755-42e7-822c-d8ba78abd92a"}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white hollow cylindrical part on the left front purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: place_release: Right hand places the white ring onto the left purple peg of the wooden base and releases the ring."}, {"label": "goal", "start_step": 781, "end_step": 885, "id": "2678aa5f-1435-40c6-83b8-4314c50dc0d3"}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 921, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white ring on the table in front of the wooden base, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 886, "end_step": 1015, "id": "ad3ab510-5bbb-4478-94a3-274316dcef57"}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the position above the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1027, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and moves it downward to fit the block onto the peg."}, {"label": "goal", "start_step": 1016, "end_step": 1115, "id": "41af2346-a3e1-4f1f-931f-20ec3ced9be1"}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white hollow cylinder, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward to reach the green hollow square on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the green hollow square on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 1116, "end_step": 1305, "id": "ea5e1c7c-2e89-4004-8412-e651be749d64"}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it to the position above the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1289, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the green square block with the peg and moves it downward to mate the block onto the peg."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the green square block by opening its fingers."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: retreat: Right hand retreats toward the right side after releasing the green square block."}, {"label": "goal", "start_step": 1306, "end_step": 1405, "id": "7b3e6191-c8eb-47d9-ae43-62ac34a9f172"}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1406, "end_step": 1530, "id": "ed3f6f6a-debd-44f8-92db-b261b576d2bd"}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the peg rack with stacked cylinders."}, {"label": "subtasks", "start_step": 1440, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto a vertical peg of the rack, lowering it down along the peg until fully fitted."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical part on the top of the stacked block column, with fingers opening gradually."}, {"label": "goal", "start_step": 1531, "end_step": 1650, "id": "ab675bf4-4a80-471e-a1cd-fba4e47dc56c"}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand reaches downward and rightward toward the white hexagonal hollow part on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal hollow part on the table, with fingers closing around the part."}, {"label": "subtasks", "start_step": 1642, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal hollow part upward away from the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand holds the white cylindrical block and moves it upward and leftward toward the purple rod on the wooden rack."}, {"label": "goal", "start_step": 1651, "end_step": 1765, "id": "1fb22ada-f6eb-4763-957f-af2e6bac2099"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the hole of the white cylindrical block with the purple rod and inserts the block down onto the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden tray, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1766, "end_step": 1890, "id": "634e0bbf-6b8c-4066-8bcb-91d27cd58dcc"}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand reaches toward the white cylindrical block on the dark table surface, moving downwards and to the right."}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1882, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the white cylindrical block upwards off the table surface while holding it."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand transports the white hollow block upward and leftward to the position above the purple rod on the wooden board."}, {"label": "goal", "start_step": 1891, "end_step": 2015, "id": "954a1e1c-6401-4a4d-864f-f8a636196c94"}, {"label": "subtasks", "start_step": 1928, "end_step": 1994, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by lowering it onto the rod until the block rests on the base below the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white hollow block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: retreat: Right hand retreats upward away from the purple rod position while empty."}, {"label": "goal", "start_step": 2016, "end_step": 2275, "id": "a7c2dd97-6d96-40de-aade-ee58673becda"}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: open: Right hand opens the pump head of the front-right white bottle with green lower part on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2189, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the pump head of the front-right white bottle on the wooden base without moving."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward toward the green cubic object on the table, empty-handed."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the green cubic object on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the green cubic object upward, making it leave the table surface."}, {"label": "goal", "start_step": 2276, "end_step": 2460, "id": "8933d89e-683a-45f5-beae-d63bb08d75ad"}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand transports the green block toward the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2361, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2362, "end_step": 2451, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: press: Right hand presses the green block down onto the white bottle to secure the assembly."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the green block by opening its fingers and separating from the block."}, {"label": "home", "start_step": 2491, "end_step": 2521, "id": "R4GARKSrlCRwslc-qP-dL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from its initial lower position to the left home position, empty-handed. | Right hand: reach: Right hand moves leftward from the right side of the table toward the central pegboard with stacked pieces, empty-handed."}, {"label": "subtasks", "start_step": 38, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the central pegboard with stacked pieces, empty-handed."}, {"label": "subtasks", "start_step": 75, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white piece with a green base on the leftmost peg of the central board."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the grasped piece upward until it is fully separated from the supporting peg."}, {"label": "subtasks", "start_step": 120, "end_step": 141, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand carries the grasped piece leftward and downward to the area above the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 142, "end_step": 164, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand adjusts the position and orientation of the grasped piece to align it with the hole of the green hexagonal block."}, {"label": "subtasks", "start_step": 165, "end_step": 201, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts and transports the green square block from the black table surface to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand mates the green square block onto the leftmost purple peg by lowering and fitting it into place."}, {"label": "subtasks", "start_step": 225, "end_step": 314, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the green square block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the dark table near the small green block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward to the area above the purple pegs on the base."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with a purple peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 502, "end_step": 539, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand reaches downward toward the left white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 652, "end_step": 659, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 660, "end_step": 689, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport_mate: Right hand transports the white hollow cylindrical part upward and leftward above the black table to the left front purple peg of the wooden pegboard and inserts the part onto the peg."}, {"label": "subtasks", "start_step": 690, "end_step": 779, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white hollow cylindrical part on the left front purple peg of the pegboard without moving."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: place_release: Right hand places the white ring onto the left purple peg of the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 810, "end_step": 831, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 921, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white ring on the table in front of the wooden base, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 922, "end_step": 944, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the position above the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 945, "end_step": 1027, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1028, "end_step": 1041, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white hollow cylinder, with fingers opening and separating from the cylinder."}, {"label": "subtasks", "start_step": 1042, "end_step": 1064, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward to reach the green hollow square on the black table surface."}, {"label": "subtasks", "start_step": 1065, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the green hollow square on the black table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it to the position above the peg on the wooden rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1289, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the green square block with the peg and moves it downward to mate the block onto the peg."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the green square block by opening its fingers."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: retreat: Right hand retreats toward the right side after releasing the green square block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the peg rack with stacked cylinders."}, {"label": "subtasks", "start_step": 1440, "end_step": 1529, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto a vertical peg of the rack, lowering it down along the peg until fully fitted."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical part on the top of the stacked block column, with fingers opening gradually."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand reaches downward and rightward toward the white hexagonal hollow part on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal hollow part on the table, with fingers closing around the part."}, {"label": "subtasks", "start_step": 1642, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal hollow part upward away from the table surface."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand holds the white cylindrical block and moves it upward and leftward toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the hole of the white cylindrical block with the purple rod and inserts the block down onto the rod."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1755, "end_step": 1784, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden tray, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1837, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand reaches toward the white cylindrical block on the dark table surface, moving downwards and to the right."}, {"label": "subtasks", "start_step": 1838, "end_step": 1881, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table surface, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1882, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the white cylindrical block upwards off the table surface while holding it."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand transports the white hollow block upward and leftward to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1928, "end_step": 1994, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by lowering it onto the rod until the block rests on the base below the rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2009, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white hollow block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: retreat: Right hand retreats upward away from the purple rod position while empty."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: open: Right hand opens the pump head of the front-right white bottle with green lower part on the wooden base."}, {"label": "subtasks", "start_step": 2078, "end_step": 2189, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the pump head of the front-right white bottle on the wooden base without moving."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward toward the green cubic object on the table, empty-handed."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the green cubic object on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the green cubic object upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand transports the green block toward the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2318, "end_step": 2361, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2362, "end_step": 2451, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: press: Right hand presses the green block down onto the white bottle to secure the assembly."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the green block by opening its fingers and separating from the block."}], "episode_index": 3}
+{"source_uid": "57c786dded48355a", "num_frames": 2656, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the purple rod of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 220, "id": "8cc20340-915b-4d51-aeae-8af8065b9a23"}, {"label": "valid", "start_step": 0, "end_step": 2624, "id": "weSBDjGTr2YZPhLl5r_-2"}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the purple rod, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 128, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the grasped white cylindrical block downwards along the purple rod."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it upwards to the top of the leftmost purple peg on the wooden base."}, {"label": "goal", "start_step": 221, "end_step": 355, "id": "63deb43d-8edd-41a0-9b6b-8c8293ae3fc3"}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the leftmost purple peg by aligning and inserting it partially onto the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the leftmost purple peg to fit it in place."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 356, "end_step": 480, "id": "15092797-43d9-4585-a269-c776791b54b9"}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 405, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts and closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 481, "end_step": 590, "id": "a61b5731-ff27-4de8-9944-3a1efa917e8c"}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by aligning and inserting it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 591, "end_step": 735, "id": "1c62b65e-f61f-4f32-baf8-2bde7ddcc15a"}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the left white hexagonal ring placed on the table."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the left white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal ring upward off the table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the target peg on the wooden base."}, {"label": "goal", "start_step": 736, "end_step": 870, "id": "49f7d5ac-4328-44f3-be61-6d8be82f8c4b"}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the target peg without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to approach the white cylindrical object in front of the wooden base."}, {"label": "goal", "start_step": 871, "end_step": 995, "id": "4e279dde-385d-4b3d-b77d-81b7f440b330"}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical object, with slight grip adjustment during the process."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple peg on the wooden base."}, {"label": "goal", "start_step": 996, "end_step": 1175, "id": "578159f2-740c-4615-ad0e-e97bf5e96b61"}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple rod of the wooden base, pressing it slightly to fit."}, {"label": "goal", "start_step": 1176, "end_step": 1290, "id": "92005ea5-56af-43f9-b04d-5a6085b13043"}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block off the black table surface."}, {"label": "goal", "start_step": 1291, "end_step": 1420, "id": "6a0a4b8a-1379-480c-bc2c-144eebe9715c"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green block on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1421, "end_step": 1550, "id": "bc3682ed-961f-4018-9869-d1c83746aa94"}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface to form a stable grasp."}, {"label": "goal", "start_step": 1551, "end_step": 1775, "id": "0f5bdedf-636d-4c21-a5d3-26b7acca9345"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod above the green block on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg of the wooden base."}, {"label": "goal", "start_step": 1776, "end_step": 1920, "id": "05863275-70fc-4f43-bb95-f71f5169a10f"}, {"label": "subtasks", "start_step": 1815, "end_step": 1867, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand holds the small white cap and moves it toward the purple rod on the wooden rack."}, {"label": "goal", "start_step": 1921, "end_step": 2080, "id": "8b26a640-b889-4a47-8588-4987e437f05d"}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and fits the small white cap onto the top of the purple rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cap on the purple rod without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylinder onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2081, "end_step": 2190, "id": "28da6bb5-7b25-4774-9ed0-8bf40c7aef51"}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white cylinder placed on the black tabletop."}, {"label": "subtasks", "start_step": 2138, "end_step": 2181, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers around the white cylinder on the black tabletop to form a stable grasp."}, {"label": "subtasks", "start_step": 2182, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylinder upward off the black tabletop."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it above the empty position on the wooden tray."}, {"label": "goal", "start_step": 2191, "end_step": 2370, "id": "98a9d5b0-e014-4c9c-9d7b-d34933451d5f"}, {"label": "subtasks", "start_step": 2220, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the empty position on the wooden tray."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white block down on the wooden tray to secure it."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the top of the rightmost white bottle on the wooden base."}, {"label": "goal", "start_step": 2371, "end_step": 2485, "id": "cf70ad60-1da1-40ad-9f40-b4ccd2c33e3d"}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves upward away from the white bottle."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2430, "end_step": 2474, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the green cubic block, adjusts fingers to form a stable grasp on it."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "goal", "start_step": 2486, "end_step": 2590, "id": "26aa809e-0032-40ef-93fe-47761341af3e"}, {"label": "subtasks", "start_step": 2490, "end_step": 2527, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block towards the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2528, "end_step": 2549, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle for assembly."}, {"label": "subtasks", "start_step": 2550, "end_step": 2571, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the green block onto the top of the white bottle until it is supported by the bottle."}, {"label": "subtasks", "start_step": 2572, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens its fingers to release the green block and separate from it."}, {"label": "home", "start_step": 2625, "end_step": 2655, "id": "Z5TCkwlzMbb2434TqpOlO"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the purple rod of the wooden rack."}, {"label": "subtasks", "start_step": 82, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the purple rod, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 128, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the grasped white cylindrical block downwards along the purple rod."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it upwards to the top of the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the leftmost purple peg by aligning and inserting it partially onto the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the leftmost purple peg to fit it in place."}, {"label": "subtasks", "start_step": 285, "end_step": 344, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 345, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 405, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts and closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by aligning and inserting it onto the peg."}, {"label": "subtasks", "start_step": 525, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to secure it in place."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the left white hexagonal ring placed on the table."}, {"label": "subtasks", "start_step": 660, "end_step": 727, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the left white hexagonal ring on the table."}, {"label": "subtasks", "start_step": 728, "end_step": 734, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal ring upward off the table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 765, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the target peg without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to approach the white cylindrical object in front of the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical object, with slight grip adjustment during the process."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1161, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple rod of the wooden base, pressing it slightly to fit."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the wooden base."}, {"label": "subtasks", "start_step": 1290, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block off the black table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1341, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the target peg of the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1409, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green block on the peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1499, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1559, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface to form a stable grasp."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod above the green block on the wooden base."}, {"label": "subtasks", "start_step": 1605, "end_step": 1769, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1815, "end_step": 1867, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the table to the right of the wooden base."}, {"label": "subtasks", "start_step": 1868, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand holds the small white cap and moves it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1950, "end_step": 1994, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and fits the small white cap onto the top of the purple rod."}, {"label": "subtasks", "start_step": 1995, "end_step": 2069, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cap on the purple rod without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylinder onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white cylinder placed on the black tabletop."}, {"label": "subtasks", "start_step": 2138, "end_step": 2181, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers around the white cylinder on the black tabletop to form a stable grasp."}, {"label": "subtasks", "start_step": 2182, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylinder upward off the black tabletop."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it above the empty position on the wooden tray."}, {"label": "subtasks", "start_step": 2220, "end_step": 2287, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the empty position on the wooden tray."}, {"label": "subtasks", "start_step": 2288, "end_step": 2369, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white block down on the wooden tray to secure it."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the top of the rightmost white bottle on the wooden base."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves upward away from the white bottle."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}, {"label": "subtasks", "start_step": 2430, "end_step": 2474, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the green cubic block, adjusts fingers to form a stable grasp on it."}, {"label": "subtasks", "start_step": 2475, "end_step": 2489, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2527, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block towards the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2528, "end_step": 2549, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle for assembly."}, {"label": "subtasks", "start_step": 2550, "end_step": 2571, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the green block onto the top of the white bottle until it is supported by the bottle."}, {"label": "subtasks", "start_step": 2572, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens its fingers to release the green block and separate from it."}], "episode_index": 4}
+{"source_uid": "e6207c83c03526c7", "num_frames": 2447, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the left home position while remaining empty. | Right hand: return_home: Right hand moves upward to the right home position while remaining empty."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "f5c748be-6bc6-4059-bfbf-c975244f19b3"}, {"label": "valid", "start_step": 0, "end_step": 2416, "id": "wmoRwUbsgXvAEL3rVs_qw"}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: idle: Right hand remains empty at the right home position without moving toward any target object."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block near the wooden base, with fingers held slightly open."}, {"label": "subtasks", "start_step": 98, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger and wrist positions to establish a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand grips the green hexagonal block and lifts it slightly upward from the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the green hexagonal block resting on the dark table surface adjacent to the wooden pegboard."}, {"label": "goal", "start_step": 201, "end_step": 300, "id": "86a70f34-bdbc-4f7e-80b8-2d47de32c473"}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until it is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport_mate: Right hand moves the grasped green hexagonal block above the target purple peg on the wooden pegboard, aligns the block with the peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block mounted on the purple peg of the wooden assembly base."}, {"label": "goal", "start_step": 301, "end_step": 425, "id": "39b5acbd-4770-45c5-b2fd-a2ec22ee99c8"}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the purple peg and moves it downward toward the dark table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the green hexagonal block onto the table surface, making slight positional adjustments to set the block stably."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal component from the black table surface and transports it to the position directly above the purple peg on the wooden assembly base."}, {"label": "goal", "start_step": 426, "end_step": 555, "id": "8b28a976-4325-48e7-9180-3cb4990365f6"}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal component with the purple peg and fits it onto the peg to establish the assembly fit."}, {"label": "subtasks", "start_step": 465, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses the white hexagonal component downward along the purple peg to seat it securely on the green block beneath."}, {"label": "goal", "start_step": 556, "end_step": 685, "id": "8c5967c0-dbd9-4b34-85af-344ded267508"}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downwards from the wooden rack toward the front-left white hexagonal nut on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 615, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, making slight adjustments to finger positions to establish a stable grasp."}, {"label": "goal", "start_step": 686, "end_step": 795, "id": "d591b582-ecf9-47ee-9bed-4a15eb9de880"}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod, making small positional adjustments during alignment."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the upper assembly area toward the white hexagonal nut positioned in front of the wooden base."}, {"label": "goal", "start_step": 796, "end_step": 915, "id": "8b61a572-4e82-47d5-bc02-57aa184c64db"}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut, making small grip adjustments while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it from the supporting surface near the wooden base, and moves it upward to the position directly above the target purple peg on the base."}, {"label": "goal", "start_step": 916, "end_step": 1035, "id": "052df0a0-01a4-4158-af1d-9a266d63e168"}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, makes slight positional adjustments, and lowers the block to fit it onto the peg until the block rests on the wooden base surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the upper wooden block rack toward the front green hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 1036, "end_step": 1125, "id": "5b64b460-9641-44db-81d4-fcfb5ff6a35f"}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, raising it completely off the dark table surface."}, {"label": "goal", "start_step": 1126, "end_step": 1230, "id": "9a6379de-9fef-41e0-b93d-4017f83485df"}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand moves the green hexagonal block to the purple vertical peg on the wooden base, aligns the block's central hole with the peg, and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block steady on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses vertically down on the top surface of the green hexagonal block mounted on the wooden assembly stand to secure it."}, {"label": "goal", "start_step": 1231, "end_step": 1355, "id": "5ea35d1c-3cf2-4483-aece-926686333d71"}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward across the table toward the frontmost white hexagonal block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand positions its fingers around the frontmost white hexagonal block on the table, adjusting finger placement to establish a grip."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block fully leaves the black table surface."}, {"label": "goal", "start_step": 1356, "end_step": 1480, "id": "1615cb5b-9617-4176-a312-4c9353d732c9"}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand transports the lifted white hexagonal block leftward and upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers the block to fit it onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1432, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand holds the green and white cylindrical block, moves downward to seat the block onto the wooden base assembly, releases fingers to separate from the supported block."}, {"label": "goal", "start_step": 1481, "end_step": 1600, "id": "828c451f-d003-48a3-bb8b-9c2158635702"}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward while empty, approaching the small white hexagonal block on the dark table surface near the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, adjusts finger positions and closes fingers to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table and lifts it upward until the nut is completely off the dark table surface."}, {"label": "goal", "start_step": 1601, "end_step": 1710, "id": "c7b89ea4-5006-4c70-a8a0-7aec9e53bee0"}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it upward then horizontally to the position directly above the purple rod on the light wooden rack."}, {"label": "subtasks", "start_step": 1650, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the top of the purple rod, moves the nut downward to fit it onto the rod, opens fingers to release the nut on the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and slightly right toward the white hexagonal nut on the dark work surface, with fingers held in an extended posture."}, {"label": "goal", "start_step": 1711, "end_step": 1815, "id": "dc7aff37-b195-4127-98fa-028a1dd01f9e"}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, fingers closing and making small adjustments to establish a secure grip on the nut."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand holds the white cylindrical block resting on the black table surface and lifts it upward until the block is completely separated from the table."}, {"label": "goal", "start_step": 1816, "end_step": 2040, "id": "515bfa83-7c17-453e-bc2f-381beb47009a"}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white cylindrical block upward through the air toward the empty slot on the wooden block rack, stopping directly above the slot."}, {"label": "subtasks", "start_step": 1868, "end_step": 1957, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand adjusts the white cylindrical block to align with the empty slot on the wooden rack and inserts the block into the slot until it is stably seated in the rack."}, {"label": "subtasks", "start_step": 1958, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the stably seated white cylindrical block on the wooden rack without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand holds the white cap, adjusts its position over the purple post on the light wooden base, presses the cap down to a stable seated position, opens fingers to release contact with the cap."}, {"label": "goal", "start_step": 2041, "end_step": 2265, "id": "b9deb853-078c-429c-b1cb-1570e0f05b32"}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the green cube on the table, closes fingers around the cube to establish a stable grip."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand moves the stably grasped green cube upward, lifting the cube fully off the dark table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand holds the green block, transports it upward and forward to the position directly above the target purple-capped cylinder on the wooden block base."}, {"label": "goal", "start_step": 2266, "end_step": 2385, "id": "e845e6d6-ea4b-4641-b639-e8a0bc710394"}, {"label": "subtasks", "start_step": 2302, "end_step": 2369, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand makes slight positional adjustments to the held green block, aligns its central hole with the top of the target purple-capped cylinder for assembly."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand moves the aligned green block downward onto the target cylinder until the block is stably supported, opens fingers to release grip on the green block."}, {"label": "home", "start_step": 2417, "end_step": 2446, "id": "kWNYUjKcfXtysO55zoneM"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the left home position while remaining empty. | Right hand: return_home: Right hand moves upward to the right home position while remaining empty."}, {"label": "subtasks", "start_step": 30, "end_step": 51, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: idle: Right hand remains empty at the right home position without moving toward any target object."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block near the wooden base, with fingers held slightly open."}, {"label": "subtasks", "start_step": 98, "end_step": 171, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger and wrist positions to establish a stable grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand grips the green hexagonal block and lifts it slightly upward from the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the green hexagonal block resting on the dark table surface adjacent to the wooden pegboard."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until it is fully lifted off the dark table surface."}, {"label": "subtasks", "start_step": 232, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport_mate: Right hand moves the grasped green hexagonal block above the target purple peg on the wooden pegboard, aligns the block with the peg and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block mounted on the purple peg of the wooden assembly base."}, {"label": "subtasks", "start_step": 330, "end_step": 351, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the purple peg and moves it downward toward the dark table surface."}, {"label": "subtasks", "start_step": 352, "end_step": 419, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the green hexagonal block onto the table surface, making slight positional adjustments to set the block stably."}, {"label": "subtasks", "start_step": 420, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal component from the black table surface and transports it to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal component with the purple peg and fits it onto the peg to establish the assembly fit."}, {"label": "subtasks", "start_step": 465, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses the white hexagonal component downward along the purple peg to seat it securely on the green block beneath."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downwards from the wooden rack toward the front-left white hexagonal nut on the black table surface, approaching the target."}, {"label": "subtasks", "start_step": 615, "end_step": 697, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, making slight adjustments to finger positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden block stand."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod, making small positional adjustments during alignment."}, {"label": "subtasks", "start_step": 795, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the upper assembly area toward the white hexagonal nut positioned in front of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut, making small grip adjustments while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it from the supporting surface near the wooden base, and moves it upward to the position directly above the target purple peg on the base."}, {"label": "subtasks", "start_step": 945, "end_step": 1034, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, makes slight positional adjustments, and lowers the block to fit it onto the peg until the block rests on the wooden base surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the upper wooden block rack toward the front green hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1118, "end_step": 1147, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, raising it completely off the dark table surface."}, {"label": "subtasks", "start_step": 1148, "end_step": 1184, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand moves the green hexagonal block to the purple vertical peg on the wooden base, aligns the block's central hole with the peg, and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block steady on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses vertically down on the top surface of the green hexagonal block mounted on the wooden assembly stand to secure it."}, {"label": "subtasks", "start_step": 1268, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward across the table toward the frontmost white hexagonal block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand positions its fingers around the frontmost white hexagonal block on the table, adjusting finger placement to establish a grip."}, {"label": "subtasks", "start_step": 1350, "end_step": 1371, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block fully leaves the black table surface."}, {"label": "subtasks", "start_step": 1372, "end_step": 1387, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand transports the lifted white hexagonal block leftward and upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers the block to fit it onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1432, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 1470, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand holds the green and white cylindrical block, moves downward to seat the block onto the wooden base assembly, releases fingers to separate from the supported block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1551, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward while empty, approaching the small white hexagonal block on the dark table surface near the wooden base."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, adjusts finger positions and closes fingers to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table and lifts it upward until the nut is completely off the dark table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1649, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it upward then horizontally to the position directly above the purple rod on the light wooden rack."}, {"label": "subtasks", "start_step": 1650, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the top of the purple rod, moves the nut downward to fit it onto the rod, opens fingers to release the nut on the rod."}, {"label": "subtasks", "start_step": 1710, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and slightly right toward the white hexagonal nut on the dark work surface, with fingers held in an extended posture."}, {"label": "subtasks", "start_step": 1770, "end_step": 1814, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, fingers closing and making small adjustments to establish a secure grip on the nut."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand holds the white cylindrical block resting on the black table surface and lifts it upward until the block is completely separated from the table."}, {"label": "subtasks", "start_step": 1838, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white cylindrical block upward through the air toward the empty slot on the wooden block rack, stopping directly above the slot."}, {"label": "subtasks", "start_step": 1868, "end_step": 1957, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand adjusts the white cylindrical block to align with the empty slot on the wooden rack and inserts the block into the slot until it is stably seated in the rack."}, {"label": "subtasks", "start_step": 1958, "end_step": 2039, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the stably seated white cylindrical block on the wooden rack without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2167, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand holds the white cap, adjusts its position over the purple post on the light wooden base, presses the cap down to a stable seated position, opens fingers to release contact with the cap."}, {"label": "subtasks", "start_step": 2168, "end_step": 2197, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green cube resting on the dark table surface."}, {"label": "subtasks", "start_step": 2198, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the green cube on the table, closes fingers around the cube to establish a stable grip."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand moves the stably grasped green cube upward, lifting the cube fully off the dark table surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand holds the green block, transports it upward and forward to the position directly above the target purple-capped cylinder on the wooden block base."}, {"label": "subtasks", "start_step": 2302, "end_step": 2369, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand makes slight positional adjustments to the held green block, aligns its central hole with the top of the target purple-capped cylinder for assembly."}, {"label": "subtasks", "start_step": 2370, "end_step": 2399, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand moves the aligned green block downward onto the target cylinder until the block is stably supported, opens fingers to release grip on the green block."}], "episode_index": 5}
+{"source_uid": "22856573e4a9bb03", "num_frames": 2463, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from the lower left position to the left home position. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green block on the left side of the wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 175, "id": "514495ec-1bdc-4eed-a3dd-61b673f5c3c7"}, {"label": "valid", "start_step": 0, "end_step": 2431, "id": "ArbVjkiHF2X5RFOgj5xQc"}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green block on the left side of the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green block without any observable movement."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green cube on the table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 176, "end_step": 310, "id": "ac6ebca2-4d7f-40ac-81fe-c1b0afa929e6"}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table surface and transports it to above the leftmost peg of the wooden board."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green cube with the leftmost peg on the wooden board, moving downward to fit the cube onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green cube fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place_release: Right hand places the green hexagonal block onto the base of the leftmost purple peg and releases it."}, {"label": "goal", "start_step": 311, "end_step": 435, "id": "be7f6e5b-4d2f-4e85-a99a-d26fa28e2db2"}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left side of the table, moving down from the peg assembly area."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the white hex nut up from the black table surface."}, {"label": "goal", "start_step": 436, "end_step": 580, "id": "31d9afe1-cdfa-4af0-9cb6-dfc36d5d8d3f"}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the white hex nut towards the leftmost vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hex nut onto the leftmost vertical peg by moving downwards to fit over the peg."}, {"label": "subtasks", "start_step": 488, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hex nut on the leftmost vertical peg over the green base without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand fits the white holed cylindrical piece onto the leftmost vertical peg and releases its grip."}, {"label": "goal", "start_step": 581, "end_step": 700, "id": "40844425-8af4-4f38-812c-9e65d373d9ff"}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing and adjusting contact position."}, {"label": "goal", "start_step": 701, "end_step": 825, "id": "d0fc01b9-a38b-4a72-918e-a54cc9d58af4"}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the back peg board."}, {"label": "subtasks", "start_step": 728, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning and pushing it down to the green base."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 818, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: idle: Right hand remains empty above the leftmost peg without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward from the top of the peg block set to approach the white hexagonal cube on the table in front of the wooden base."}, {"label": "goal", "start_step": 826, "end_step": 925, "id": "06464e5d-d3fc-4683-bff6-55dbcd453a72"}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal cube on the table in front of the wooden base, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal cube on the table in front of the wooden base without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 926, "end_step": 1045, "id": "98c6b853-ec8c-446c-a30b-f1856fda98a6"}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the top of the middle purple peg."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg by lowering and fitting it over the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the right purple rod of the wooden base."}, {"label": "goal", "start_step": 1046, "end_step": 1135, "id": "3d5ca50e-d1db-4ebd-a6bf-8f2cf2a7ba96"}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1136, "end_step": 1320, "id": "50bb8231-9633-41a1-b02b-e64095557c0a"}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position right above the peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green block with the peg and inserts it downwards to complete the assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the green block, with fingers separating from the block."}, {"label": "goal", "start_step": 1321, "end_step": 1445, "id": "34849aeb-25a2-49f9-b0ae-8be6915ea927"}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1431, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the black table surface and transports it upward and rightward to the position above the peg rack."}, {"label": "goal", "start_step": 1446, "end_step": 1550, "id": "1655e726-40bd-44b7-9de9-73ebd63006dc"}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the vertical peg of the rack, moving downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hollow block on the purple peg above the green block without moving."}, {"label": "goal", "start_step": 1551, "end_step": 1665, "id": "c2103d0e-4efa-4f48-a852-5b4e7947c9ab"}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release_reach: Right hand releases the white hollow block on the purple peg and moves toward the white hollow hexagonal block on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table with fingers closing to form a grip."}, {"label": "subtasks", "start_step": 1642, "end_step": 1657, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the white hollow hexagonal block upward from the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the white cylindrical part upward and leftward toward the purple rod on the wooden base."}, {"label": "goal", "start_step": 1666, "end_step": 1780, "id": "9aade0d8-c441-4058-af20-9dd935e3d01a"}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical part with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical part on the purple rod without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place_release: Right hand places the white block onto the purple rod and releases it."}, {"label": "goal", "start_step": 1781, "end_step": 1865, "id": "5da37751-7137-4308-a878-11161541a553"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward to approach the white block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1957, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white block on the table surface with fingers closing and adjusting."}, {"label": "goal", "start_step": 1866, "end_step": 2135, "id": "f9efa574-9a6b-4424-aa67-c5a62777b913"}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the dark table surface and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2002, "end_step": 2084, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod of the wooden rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical object on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press_release: Right hand presses the purple small cylinder into the top of the front-right white cylindrical block on the wooden base and releases its grip."}, {"label": "goal", "start_step": 2136, "end_step": 2265, "id": "16b8b7d2-3268-4985-b19d-e4b8a7bba925"}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves down-right toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2257, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green cubic block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the dark table surface."}, {"label": "goal", "start_step": 2266, "end_step": 2395, "id": "88b72276-667f-4c8a-9f6e-abcf0fd914c4"}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the green ring-shaped object upward and leftward to the top of the rightmost bottle with a purple rod."}, {"label": "subtasks", "start_step": 2302, "end_step": 2361, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green ring-shaped object with the purple rod of the rightmost bottle and fits it downward onto the bottle."}, {"label": "subtasks", "start_step": 2362, "end_step": 2399, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green ring-shaped object on the rightmost bottle without moving."}, {"label": "home", "start_step": 2432, "end_step": 2462, "id": "7_BCVObhy3nWUujxDjo9n"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward from the lower left position to the left home position. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green block on the left side of the wooden rack."}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green block on the left side of the wooden rack."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green block without any observable movement."}, {"label": "subtasks", "start_step": 165, "end_step": 187, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green cube on the table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table surface and transports it to above the leftmost peg of the wooden board."}, {"label": "subtasks", "start_step": 210, "end_step": 247, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green cube with the leftmost peg on the wooden board, moving downward to fit the cube onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green cube fitted on the leftmost peg without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place_release: Right hand places the green hexagonal block onto the base of the leftmost purple peg and releases it."}, {"label": "subtasks", "start_step": 338, "end_step": 374, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left side of the table, moving down from the peg assembly area."}, {"label": "subtasks", "start_step": 375, "end_step": 404, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the white hex nut up from the black table surface."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the white hex nut towards the leftmost vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 487, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hex nut onto the leftmost vertical peg by moving downwards to fit over the peg."}, {"label": "subtasks", "start_step": 488, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hex nut on the leftmost vertical peg over the green base without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 591, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand fits the white holed cylindrical piece onto the leftmost vertical peg and releases its grip."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 630, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing and adjusting contact position."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the back peg board."}, {"label": "subtasks", "start_step": 728, "end_step": 801, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning and pushing it down to the green base."}, {"label": "subtasks", "start_step": 802, "end_step": 817, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 818, "end_step": 824, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: idle: Right hand remains empty above the leftmost peg without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward from the top of the peg block set to approach the white hexagonal cube on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 855, "end_step": 891, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal cube on the table in front of the wooden base, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal cube on the table in front of the wooden base without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 938, "end_step": 951, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the top of the middle purple peg."}, {"label": "subtasks", "start_step": 952, "end_step": 997, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg by lowering and fitting it over the peg."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the right purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1147, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1148, "end_step": 1169, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position right above the peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green block with the peg and inserts it downwards to complete the assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the green block, with fingers separating from the block."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1380, "end_step": 1431, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1432, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, making it leave the table surface."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the black table surface and transports it upward and rightward to the position above the peg rack."}, {"label": "subtasks", "start_step": 1462, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the vertical peg of the rack, moving downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hollow block on the purple peg above the green block without moving."}, {"label": "subtasks", "start_step": 1560, "end_step": 1604, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release_reach: Right hand releases the white hollow block on the purple peg and moves toward the white hollow hexagonal block on the table."}, {"label": "subtasks", "start_step": 1605, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table with fingers closing to form a grip."}, {"label": "subtasks", "start_step": 1642, "end_step": 1657, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1658, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the white hollow hexagonal block upward from the table surface."}, {"label": "subtasks", "start_step": 1665, "end_step": 1694, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the white cylindrical part upward and leftward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1695, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical part with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical part on the purple rod without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place_release: Right hand places the white block onto the purple rod and releases it."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward to approach the white block on the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1957, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white block on the table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1958, "end_step": 2001, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the dark table surface and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2002, "end_step": 2084, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod of the wooden rack by aligning and lowering it."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical object on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press_release: Right hand presses the purple small cylinder into the top of the front-right white cylindrical block on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves down-right toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2257, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green cubic block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2258, "end_step": 2279, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the dark table surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the green ring-shaped object upward and leftward to the top of the rightmost bottle with a purple rod."}, {"label": "subtasks", "start_step": 2302, "end_step": 2361, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green ring-shaped object with the purple rod of the rightmost bottle and fits it downward onto the bottle."}, {"label": "subtasks", "start_step": 2362, "end_step": 2399, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green ring-shaped object on the rightmost bottle without moving."}], "episode_index": 6}
+{"source_uid": "ce000d45d4d69a51", "num_frames": 2418, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward toward the green hexagonal block on the black table."}, {"label": "goal", "start_step": 0, "end_step": 190, "id": "51189023-fb99-48d7-ac97-d34b12be7f42"}, {"label": "valid", "start_step": 0, "end_step": 2386, "id": "yVenWuZS8Z2ZpIH1aY-kc"}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers close to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "goal", "start_step": 191, "end_step": 325, "id": "f2650b02-11e0-45b5-af2a-b0bd8b81806a"}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to secure it tightly."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 326, "end_step": 435, "id": "b1bab10a-0af8-41eb-946f-7a16f90d6fd6"}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 436, "end_step": 575, "id": "08aae8c1-4f21-483d-b1d9-62df9a62a24d"}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block onto the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 576, "end_step": 660, "id": "0dc95fab-ca37-400f-9dae-ea53d89f0de4"}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 661, "end_step": 920, "id": "8c297dec-28a7-428a-9642-9d517b8ed085"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, then transports it to the position above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg, then inserts it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block placed on the black table surface."}, {"label": "goal", "start_step": 921, "end_step": 1005, "id": "660a0a5e-2743-4b54-87d3-f10a2a9cf07f"}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hollow block on the black table surface."}, {"label": "goal", "start_step": 1006, "end_step": 1185, "id": "aa250698-9fcd-43da-889d-3f789195e281"}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white hexagonal block above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1177, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1178, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the table."}, {"label": "goal", "start_step": 1186, "end_step": 1290, "id": "871e5c88-5427-47da-9624-1ea9bac2b7a2"}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers close to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward away from the table surface."}, {"label": "goal", "start_step": 1291, "end_step": 1430, "id": "6e1fa864-ebd2-4cc0-8eea-462c4a4b5606"}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the green block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the vertical rod on the wooden base."}, {"label": "goal", "start_step": 1431, "end_step": 1555, "id": "f6c8f27f-03c6-45a7-8bfd-f6ddd687ac63"}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object from the black table surface."}, {"label": "goal", "start_step": 1556, "end_step": 1660, "id": "e1327aa8-aa1e-42bd-b2de-b2748acc3625"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1582, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the target peg on the wooden base."}, {"label": "goal", "start_step": 1661, "end_step": 1750, "id": "2fe949fa-766a-4e29-a876-49fa39850928"}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards and rightwards towards the white cylindrical ring on the table surface, not yet touching the object."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical ring on the table surface, adjusting grip to secure the object."}, {"label": "goal", "start_step": 1751, "end_step": 1870, "id": "de06aabd-8a42-4ee8-b0ce-c034f6c8629b"}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table surface and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base, adjusting to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1871, "end_step": 1960, "id": "0b3837dc-b8a1-4768-bf68-59118b390740"}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the table on the right of the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "goal", "start_step": 1961, "end_step": 2100, "id": "736d8718-1e00-4bfc-821a-40d6ab891018"}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2099, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the white cylindrical block with the purple rod, inserts it onto the rod and releases the block."}, {"label": "subtasks", "start_step": 2100, "end_step": 2151, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube placed on the table surface."}, {"label": "goal", "start_step": 2101, "end_step": 2210, "id": "4ea6406c-dd40-46d7-a606-52279170e4cd"}, {"label": "subtasks", "start_step": 2152, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cube and adjusts fingers to form a stable grasp on it."}, {"label": "goal", "start_step": 2211, "end_step": 2350, "id": "6b5bd299-4af1-42ad-ae86-e00b32f8ae22"}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block off the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the rightmost white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white cylinder."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green block onto the top of the target white cylinder until it is supported."}, {"label": "subtasks", "start_step": 2318, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden base after releasing the green block."}, {"label": "home", "start_step": 2387, "end_step": 2417, "id": "3eynxgbBwKXC2s6ahf2gD"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward toward the green hexagonal block on the black table."}, {"label": "subtasks", "start_step": 82, "end_step": 141, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers close to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 142, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 232, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to secure it tightly."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 531, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 532, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 570, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 630, "end_step": 681, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, then transports it to the position above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 705, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg, then inserts it onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 915, "end_step": 967, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block placed on the black table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 1034, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hollow block on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white hexagonal block above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1177, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}, {"label": "subtasks", "start_step": 1178, "end_step": 1184, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1230, "end_step": 1274, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers close to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the green block onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 1372, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1499, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object from the black table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1582, "end_step": 1679, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards and rightwards towards the white cylindrical ring on the table surface, not yet touching the object."}, {"label": "subtasks", "start_step": 1725, "end_step": 1761, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical ring on the table surface, adjusting grip to secure the object."}, {"label": "subtasks", "start_step": 1762, "end_step": 1807, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table surface and transports it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base, adjusting to fit the block onto the peg."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the table on the right of the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1972, "end_step": 1994, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1995, "end_step": 2099, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the white cylindrical block with the purple rod, inserts it onto the rod and releases the block."}, {"label": "subtasks", "start_step": 2100, "end_step": 2151, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube placed on the table surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2219, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cube and adjusts fingers to form a stable grasp on it."}, {"label": "subtasks", "start_step": 2220, "end_step": 2234, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block off the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the rightmost white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white cylinder."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green block onto the top of the target white cylinder until it is supported."}, {"label": "subtasks", "start_step": 2318, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2354, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden base after releasing the green block."}], "episode_index": 7}
+{"source_uid": "f6601dab50d79cc7", "num_frames": 2915, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: idle: Right hand remains empty at the right side of the table surface without contacting any target objects or producing obvious displacement."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "11a12a31-d40c-47cf-8fd0-be8ccc0c041a"}, {"label": "valid", "start_step": 0, "end_step": 2884, "id": "NTWu6LgMIq_gyhd66AgCP"}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty toward the lower-left, approaching the green hexagonal block positioned in front-left of the wooden block base."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand adjusts finger positions and closes digits around the front-left green hexagonal block to form a stable grasp."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand holds the green hexagonal block on the wooden base, moves upward to lift the block completely off the support surface."}, {"label": "goal", "start_step": 201, "end_step": 350, "id": "56afafc0-eb9e-4046-a51e-8866bdad052f"}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand carries the lifted green hexagonal block, aligns its central hole with the purple vertical peg, and moves downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement or adjustment."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple rod to place it onto the wooden base, opens fingers to release the block and separate from it."}, {"label": "goal", "start_step": 351, "end_step": 495, "id": "e9d68bd8-e2df-4be3-8ba2-9a6955353eb5"}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward toward the nearest white hexagonal block on the dark table surface, approaching the target until fingers make initial contact with the block."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block, adjusting finger contact positions to form a stable grip on the block which remains supported by the table."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the table surface, transports it upward toward the wooden base area."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand holds the white hexagonal block, moves upward to align the block with the purple post on the green wooden base, and fits the block onto the post."}, {"label": "goal", "start_step": 496, "end_step": 695, "id": "955dd1eb-9324-43ef-bf95-2397303cc9e5"}, {"label": "subtasks", "start_step": 525, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: press_release: Right hand presses the top surface of the left-front white hexagonal block on the purple rod of the wooden stand downward, fingers opening to release the block."}, {"label": "goal", "start_step": 696, "end_step": 805, "id": "ad9c042b-3884-43f3-ae9f-aa545a5b95fa"}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves downward with an empty hand toward the leftmost white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block on the table, adjusting finger positions to form a grasp."}, {"label": "goal", "start_step": 806, "end_step": 1340, "id": "f519d962-adf2-4fb6-b9e4-63c6c39a094a"}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white block with purple rod off the black table surface and moves it upward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the white block with purple rod with the target purple peg and lowers it to fit onto the peg, establishing the initial assembly connection."}, {"label": "subtasks", "start_step": 862, "end_step": 1334, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: press: Right hand applies repeated downward pressure on the assembled white block with purple rod, making slight finger adjustments to press the block fully onto the green base below the peg."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal block and fits it onto the purple rod mounted on the wooden base, making slight wrist adjustments to seat the block properly."}, {"label": "goal", "start_step": 1341, "end_step": 1465, "id": "32e9e673-a709-4999-a101-5afdc5c29614"}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward from the wooden assembly base toward the small white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, making subtle finger and wrist adjustments to establish a grasp on the block."}, {"label": "goal", "start_step": 1466, "end_step": 1600, "id": "00da6fcf-f503-4a22-8421-abb78e60c6c3"}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place: Right hand holds the white hexagonal block, moves it downward along the purple rod, and places it onto the wooden base of the assembly stand until the block is fully supported by the base."}, {"label": "goal", "start_step": 1601, "end_step": 1715, "id": "8d7b9901-98dc-4f97-b40f-6e6d7529f29e"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens its fingers to release the placed white hexagonal block on the purple rod, fully separating from the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves downward and slightly rightward from the assembly stand area toward the green hexagonal block on the dark work surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the work surface, fingers close and make slight positional adjustments to form a stable grasp around the block."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, moving the block completely away from the dark work surface."}, {"label": "goal", "start_step": 1716, "end_step": 1835, "id": "23149768-99f2-4558-9a41-c0608bd0b536"}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport_mate: Right hand moves the grasped green hexagonal block to the position directly above the purple post on the wooden assembly base, aligns the block with the post and seats it onto the post."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate_release: Right hand holds the green hexagonal block, aligns and fits it onto the corresponding vertical peg on the wooden base, releasing the block as it settles on the peg."}, {"label": "goal", "start_step": 1836, "end_step": 1940, "id": "10008eca-9b18-4222-8008-57dcfb06cf20"}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned to the left of the loose green block on the table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "goal", "start_step": 1941, "end_step": 2140, "id": "adaf7303-e7d8-4aed-a05a-a398550efcd0"}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table surface and moves it upward and toward the wooden block assembly holding stacked colored blocks and rods."}, {"label": "subtasks", "start_step": 1995, "end_step": 2129, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand positions the white hollow cylinder directly over the target purple rod on the wooden assembly, makes small positional and rotational adjustments, and nests the cylinder onto the rod while maintaining a grip on the cylinder."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place: Right hand holds the white hexagonal block and moves it downward to place it onto the green block in the stacked structure, until the block is stably supported by the green block below."}, {"label": "goal", "start_step": 2141, "end_step": 2275, "id": "33cb6b7c-1034-4f59-ad80-7b884884522a"}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens fingers to release the placed white hexagonal block, completing separation from the block."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal block on the table beside the wooden base, approaching the target block."}, {"label": "subtasks", "start_step": 2228, "end_step": 2264, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to establish a secure grasp on the block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand holds the small white part and lifts it upward off the dark table surface."}, {"label": "goal", "start_step": 2276, "end_step": 2410, "id": "42bcffd0-b2c2-46ea-90fc-ca8699de0002"}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport: Right hand carries the small white part upward to position it directly above the purple rod on the wooden block tray."}, {"label": "subtasks", "start_step": 2318, "end_step": 2399, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the small white part with the purple rod and moves it downward to fit the part onto the rod."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens fingers to release the white cylindrical piece on the purple rod, separating from the piece."}, {"label": "goal", "start_step": 2411, "end_step": 2500, "id": "6e410b87-900c-4aae-8cff-33964b1e036f"}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the black table surface, approaching the nut."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal nut resting on the table, lifting the nut slightly upward off the table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand lifts the gripped white hexagonal block upward off the black work surface."}, {"label": "goal", "start_step": 2501, "end_step": 2615, "id": "a14beb0f-935c-473e-a228-3077d0df5332"}, {"label": "subtasks", "start_step": 2505, "end_step": 2541, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport: Right hand transports the gripped white hexagonal block upward and rightward to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, and lowers the block to fit onto the rod and mate with the stacked blocks below."}, {"label": "subtasks", "start_step": 2565, "end_step": 2609, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without obvious movement."}, {"label": "subtasks", "start_step": 2610, "end_step": 2639, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand adjusts the white cylindrical piece, aligning it with the purple rod on the wooden base and seating it fully into the nested assembly."}, {"label": "goal", "start_step": 2616, "end_step": 2710, "id": "f612d433-2b9d-4620-b052-95b8ef9e29bf"}, {"label": "subtasks", "start_step": 2640, "end_step": 2669, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves diagonally downward and rightward toward the green square block on the dark table surface, with fingers held slightly spread."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand positions fingers around the green square block on the table, making small contact adjustments and closing fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block on the black table surface without moving."}, {"label": "goal", "start_step": 2711, "end_step": 2855, "id": "32cf2b55-e05d-47c2-921c-bf19e44d9f32"}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand moves upward to lift the green hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport: Right hand transports the grasped green hexagonal block upward and leftward to the position directly above the rightmost white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the rightmost white bottle, lowering the block to fit onto the bottle neck."}, {"label": "subtasks", "start_step": 2805, "end_step": 2849, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place: Right hand lowers the green hexagonal block further down along the white bottle until the block rests stably on the bottle, supported by the bottle."}, {"label": "subtasks", "start_step": 2850, "end_step": 2864, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block resting on the white bottle."}, {"label": "home", "start_step": 2885, "end_step": 2914, "id": "5BzDdCf4QodPMn_QwG6Us"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: idle: Right hand remains empty at the right side of the table surface without contacting any target objects or producing obvious displacement."}, {"label": "subtasks", "start_step": 60, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty toward the lower-left, approaching the green hexagonal block positioned in front-left of the wooden block base."}, {"label": "subtasks", "start_step": 105, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand adjusts finger positions and closes digits around the front-left green hexagonal block to form a stable grasp."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand holds the green hexagonal block on the wooden base, moves upward to lift the block completely off the support surface."}, {"label": "subtasks", "start_step": 225, "end_step": 277, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand carries the lifted green hexagonal block, aligns its central hole with the purple vertical peg, and moves downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 278, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement or adjustment."}, {"label": "subtasks", "start_step": 345, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple rod to place it onto the wooden base, opens fingers to release the block and separate from it."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward toward the nearest white hexagonal block on the dark table surface, approaching the target until fingers make initial contact with the block."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block, adjusting finger contact positions to form a stable grip on the block which remains supported by the table."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the table surface, transports it upward toward the wooden base area."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand holds the white hexagonal block, moves upward to align the block with the purple post on the green wooden base, and fits the block onto the post."}, {"label": "subtasks", "start_step": 525, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple post without any observable movement."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: press_release: Right hand presses the top surface of the left-front white hexagonal block on the purple rod of the wooden stand downward, fingers opening to release the block."}, {"label": "subtasks", "start_step": 728, "end_step": 764, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves downward with an empty hand toward the leftmost white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 765, "end_step": 824, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block on the table, adjusting finger positions to form a grasp."}, {"label": "subtasks", "start_step": 825, "end_step": 847, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white block with purple rod off the black table surface and moves it upward to position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 848, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the white block with purple rod with the target purple peg and lowers it to fit onto the peg, establishing the initial assembly connection."}, {"label": "subtasks", "start_step": 862, "end_step": 1334, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: press: Right hand applies repeated downward pressure on the assembled white block with purple rod, making slight finger adjustments to press the block fully onto the green base below the peg."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal block and fits it onto the purple rod mounted on the wooden base, making slight wrist adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward from the wooden assembly base toward the small white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1484, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, making subtle finger and wrist adjustments to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1529, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the empty purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1575, "end_step": 1589, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place: Right hand holds the white hexagonal block, moves it downward along the purple rod, and places it onto the wooden base of the assembly stand until the block is fully supported by the base."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens its fingers to release the placed white hexagonal block on the purple rod, fully separating from the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves downward and slightly rightward from the assembly stand area toward the green hexagonal block on the dark work surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 1658, "end_step": 1701, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the work surface, fingers close and make slight positional adjustments to form a stable grasp around the block."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, moving the block completely away from the dark work surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1747, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport_mate: Right hand moves the grasped green hexagonal block to the position directly above the purple post on the wooden assembly base, aligns the block with the post and seats it onto the post."}, {"label": "subtasks", "start_step": 1748, "end_step": 1829, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1830, "end_step": 1874, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate_release: Right hand holds the green hexagonal block, aligns and fits it onto the corresponding vertical peg on the wooden base, releasing the block as it settles on the peg."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned to the left of the loose green block on the table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to establish a stable grip."}, {"label": "subtasks", "start_step": 1965, "end_step": 1994, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table surface and moves it upward and toward the wooden block assembly holding stacked colored blocks and rods."}, {"label": "subtasks", "start_step": 1995, "end_step": 2129, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand positions the white hollow cylinder directly over the target purple rod on the wooden assembly, makes small positional and rotational adjustments, and nests the cylinder onto the rod while maintaining a grip on the cylinder."}, {"label": "subtasks", "start_step": 2130, "end_step": 2174, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place: Right hand holds the white hexagonal block and moves it downward to place it onto the green block in the stacked structure, until the block is stably supported by the green block below."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens fingers to release the placed white hexagonal block, completing separation from the block."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal block on the table beside the wooden base, approaching the target block."}, {"label": "subtasks", "start_step": 2228, "end_step": 2264, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to establish a secure grasp on the block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand holds the small white part and lifts it upward off the dark table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport: Right hand carries the small white part upward to position it directly above the purple rod on the wooden block tray."}, {"label": "subtasks", "start_step": 2318, "end_step": 2399, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the small white part with the purple rod and moves it downward to fit the part onto the rod."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens fingers to release the white cylindrical piece on the purple rod, separating from the piece."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the black table surface, approaching the nut."}, {"label": "subtasks", "start_step": 2468, "end_step": 2489, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal nut resting on the table, lifting the nut slightly upward off the table surface."}, {"label": "subtasks", "start_step": 2490, "end_step": 2504, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand lifts the gripped white hexagonal block upward off the black work surface."}, {"label": "subtasks", "start_step": 2505, "end_step": 2541, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport: Right hand transports the gripped white hexagonal block upward and rightward to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, and lowers the block to fit onto the rod and mate with the stacked blocks below."}, {"label": "subtasks", "start_step": 2565, "end_step": 2609, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without obvious movement."}, {"label": "subtasks", "start_step": 2610, "end_step": 2639, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand adjusts the white cylindrical piece, aligning it with the purple rod on the wooden base and seating it fully into the nested assembly."}, {"label": "subtasks", "start_step": 2640, "end_step": 2669, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves diagonally downward and rightward toward the green square block on the dark table surface, with fingers held slightly spread."}, {"label": "subtasks", "start_step": 2670, "end_step": 2699, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand positions fingers around the green square block on the table, making small contact adjustments and closing fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 2700, "end_step": 2721, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2722, "end_step": 2744, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand moves upward to lift the green hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 2745, "end_step": 2774, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport: Right hand transports the grasped green hexagonal block upward and leftward to the position directly above the rightmost white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2775, "end_step": 2804, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the rightmost white bottle, lowering the block to fit onto the bottle neck."}, {"label": "subtasks", "start_step": 2805, "end_step": 2849, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place: Right hand lowers the green hexagonal block further down along the white bottle until the block rests stably on the bottle, supported by the bottle."}, {"label": "subtasks", "start_step": 2850, "end_step": 2864, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block resting on the white bottle."}], "episode_index": 8}
+{"source_uid": "2538cd49c93a465b", "num_frames": 2273, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the lower left position to the left home position above the table, with slight posture adjustment during movement. | Right hand: reach: Right hand moves from the right side of the table toward the target object near the front of the wooden rack, approaching the object without contact."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "64e21e8c-229c-4864-9661-071863ff260c"}, {"label": "valid", "start_step": 0, "end_step": 2240, "id": "_fnFEIbAsvHPwP66R1dtC"}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves from the right side of the table toward the target object near the front of the wooden rack, approaching the object without contact."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes its fingers around the target object, with slight finger and wrist adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand aligns the held target object with the front peg of the wooden rack, fits the object onto the peg, and releases the object."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: retreat: Right hand moves upward away from the wooden rack, keeping empty during the movement."}, {"label": "goal", "start_step": 181, "end_step": 285, "id": "dbac43eb-bd10-413a-a609-70d20d3dd457"}, {"label": "subtasks", "start_step": 195, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green cube from the wooden base plate and transports it to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the green cube onto the leftmost purple peg by lowering it down along the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white block on the upper purple peg, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 286, "end_step": 380, "id": "a2ca4515-a738-4855-b803-6dcc6ad025f2"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the dark table, adjusting fingers to achieve a stable grip."}, {"label": "goal", "start_step": 381, "end_step": 510, "id": "72d6d436-52ed-48f0-86da-88c28708ca07"}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and moves it toward the wooden peg rack at the back of the frame."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple peg of the wooden rack and fits it downward onto the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand mates the white block onto the purple peg and releases its grip on the block."}, {"label": "goal", "start_step": 511, "end_step": 615, "id": "ee90e117-279b-4bbe-826a-12a818a0c004"}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the left white hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white cubic block on the black table surface without moving."}, {"label": "goal", "start_step": 616, "end_step": 750, "id": "53cf830c-d1c7-4cfe-9ae3-4e53788a5a23"}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_place: Right hand aligns the white cubic block with the leftmost purple peg and lowers it onto the lower block on the peg until it is supported."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white cubic block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the top of the leftmost post of the wooden base, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 751, "end_step": 855, "id": "2a42f0f9-8930-4d22-bb82-fc8caedc4d68"}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the table in the middle upper area."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the white cylindrical block upward off the table surface."}, {"label": "goal", "start_step": 856, "end_step": 970, "id": "fce88afe-2ac1-4123-a5b7-abf396449014"}, {"label": "subtasks", "start_step": 870, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white perforated hexagonal block from the table surface and transports it to the top of the rightmost purple peg on the pegboard."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white perforated hexagonal block onto the rightmost purple peg by lowering it down the peg."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white perforated hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white ring onto the middle purple peg of the wooden base."}, {"label": "goal", "start_step": 971, "end_step": 1060, "id": "63138280-c9e2-4b51-959a-97bdd3ebf5b5"}, {"label": "subtasks", "start_step": 990, "end_step": 997, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white ring from its grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers closing around it."}, {"label": "goal", "start_step": 1061, "end_step": 1220, "id": "bbe66eaf-5e02-47d6-81db-31a38d3d6697"}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport_mate: Right hand carries the green hexagonal block to align with the middle peg on the wooden base and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand fits the white hollow block onto the purple vertical post and releases the block."}, {"label": "goal", "start_step": 1221, "end_step": 1330, "id": "60891b33-1a65-4640-8bf6-9aa8d923ca6d"}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal hollow block on the table."}, {"label": "subtasks", "start_step": 1290, "end_step": 1364, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal hollow block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1331, "end_step": 1495, "id": "8ef459fa-be06-40cf-9cba-063a98b08863"}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it upwards and leftwards toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white hollow cylindrical block with the green block on the wooden base by aligning the block's hole with the peg and inserting it downwards."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white hollow cylindrical block, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1496, "end_step": 1595, "id": "6ce1f4b3-183d-4420-8f14-5e6682bd0f93"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the small white cylinder from the table surface."}, {"label": "goal", "start_step": 1596, "end_step": 1745, "id": "89df42ff-99cb-4664-a190-540992d3457d"}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand transports the small white cylinder leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the small white cylinder with the purple rod and fits it onto the purple rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the small white cylinder fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand mates the white hollow block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1746, "end_step": 1840, "id": "ef537698-cde6-485a-8f73-ace30c2ba549"}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1851, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 1841, "end_step": 1965, "id": "cc973bd2-84a7-4e1e-88da-cd3fed265a43"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and leftward toward the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod on the wooden rack, lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white cylindrical object on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses the purple rod down into the white cylinder on the wooden base."}, {"label": "goal", "start_step": 1966, "end_step": 2065, "id": "560905e2-a237-4574-b5d6-8242dbef64e2"}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downwards and leftwards towards the green cube on the table."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cube on the table with fingers closing and adjusting around the object."}, {"label": "goal", "start_step": 2066, "end_step": 2195, "id": "3727b90b-a9e2-4262-85c7-a81729ff9cdc"}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the green block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand transports the green block toward the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2108, "end_step": 2159, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and fits it down onto the bottle."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green block fitted on the white bottle without moving."}, {"label": "home", "start_step": 2241, "end_step": 2272, "id": "pTmjeT6qpbvd4VFTHCsNr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from the lower left position to the left home position above the table, with slight posture adjustment during movement. | Right hand: reach: Right hand moves from the right side of the table toward the target object near the front of the wooden rack, approaching the object without contact."}, {"label": "subtasks", "start_step": 30, "end_step": 81, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves from the right side of the table toward the target object near the front of the wooden rack, approaching the object without contact."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes its fingers around the target object, with slight finger and wrist adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 135, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand aligns the held target object with the front peg of the wooden rack, fits the object onto the peg, and releases the object."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: retreat: Right hand moves upward away from the wooden rack, keeping empty during the movement."}, {"label": "subtasks", "start_step": 195, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green cube from the wooden base plate and transports it to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 202, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the green cube onto the leftmost purple peg by lowering it down along the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white block on the upper purple peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, keeping fingers slightly open."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}, {"label": "subtasks", "start_step": 345, "end_step": 374, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 375, "end_step": 389, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the dark table, adjusting fingers to achieve a stable grip."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and moves it toward the wooden peg rack at the back of the frame."}, {"label": "subtasks", "start_step": 420, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple peg of the wooden rack and fits it downward onto the peg."}, {"label": "subtasks", "start_step": 510, "end_step": 539, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand mates the white block onto the purple peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 562, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 608, "end_step": 614, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the left white hexagonal block upward away from the table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 629, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white cubic block on the black table surface without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and transports it toward the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_place: Right hand aligns the white cubic block with the leftmost purple peg and lowers it onto the lower block on the peg until it is supported."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white cubic block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 771, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the top of the leftmost post of the wooden base, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 772, "end_step": 801, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the table in the middle upper area."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the white cylindrical block upward off the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 877, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white perforated hexagonal block from the table surface and transports it to the top of the rightmost purple peg on the pegboard."}, {"label": "subtasks", "start_step": 878, "end_step": 907, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white perforated hexagonal block onto the rightmost purple peg by lowering it down the peg."}, {"label": "subtasks", "start_step": 908, "end_step": 959, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white perforated hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white ring onto the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 997, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white ring from its grip."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport_mate: Right hand carries the green hexagonal block to align with the middle peg on the wooden base and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1214, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand fits the white hollow block onto the purple vertical post and releases the block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1289, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal hollow block on the table."}, {"label": "subtasks", "start_step": 1290, "end_step": 1364, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal hollow block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1365, "end_step": 1394, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it upwards and leftwards toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 1395, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white hollow cylindrical block with the green block on the wooden base by aligning the block's hole with the peg and inserting it downwards."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white hollow cylindrical block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1590, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the small white cylinder from the table surface."}, {"label": "subtasks", "start_step": 1612, "end_step": 1634, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand transports the small white cylinder leftward and upward to the position above the purple rod."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the small white cylinder with the purple rod and fits it onto the purple rod."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the small white cylinder fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand mates the white hollow block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1851, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and leftward toward the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod on the wooden rack, lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white cylindrical object on the purple rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1987, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses the purple rod down into the white cylinder on the wooden base."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downwards and leftwards towards the green cube on the table."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cube on the table with fingers closing and adjusting around the object."}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the green block upward until it completely leaves the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand transports the green block toward the target white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 2108, "end_step": 2159, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and fits it down onto the bottle."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green block fitted on the white bottle without moving."}], "episode_index": 9}
+{"source_uid": "f1ebfccbd62f2462", "num_frames": 2908, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_position: Left hand moves slightly upward to adjust its position. | Right hand: reach: Right hand moves toward the white cylindrical parts on the central wooden base."}, {"label": "goal", "start_step": 0, "end_step": 220, "id": "86deeb44-061b-40af-8723-3dbf6a780450"}, {"label": "valid", "start_step": 0, "end_step": 2876, "id": "RXeNT0FCkCv6STDbnLQRm"}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical parts on the central wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: push: Right hand pushes the white parts on the wooden base, tilting the wooden base to the left."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the green square block in front of the tilted wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand opens fingers to release the grasped green square block."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it to the position above the purple post on the wooden base."}, {"label": "goal", "start_step": 221, "end_step": 325, "id": "482123d1-8179-4ccd-a7dc-128b3c99b3ca"}, {"label": "subtasks", "start_step": 240, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple post of the wooden base by inserting it downward."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the green block onto the purple rod on the wooden base and releases the grip on the block."}, {"label": "goal", "start_step": 326, "end_step": 435, "id": "1e81ebb3-1274-4a98-92b1-2974ff905085"}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 390, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 436, "end_step": 605, "id": "fdb666bf-1ad5-49a3-bc01-b71087cd4954"}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod fixed on the wooden base."}, {"label": "goal", "start_step": 606, "end_step": 725, "id": "044a84ce-13e7-440e-8fac-86c898734a0a"}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the leftmost white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 726, "end_step": 850, "id": "6dbe06e6-5522-4124-bf7e-acd0347d3473"}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 851, "end_step": 950, "id": "e8ecb28b-64f6-493d-acb9-10a80a17aa62"}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward to reach the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 981, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white ring on the table in front of the wooden base."}, {"label": "goal", "start_step": 951, "end_step": 1130, "id": "5f63ecba-d4fc-4b19-9223-1f1e950a7a23"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1131, "end_step": 1225, "id": "4dab525c-5aa9-47df-a696-b2256c09908d"}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves down towards the green square block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand touches the green square block and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 1226, "end_step": 1490, "id": "61a1393b-4a2a-4368-9001-79bc231c4527"}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green block off the black tabletop."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the green block to the area above the target post on the wooden rack."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green block with the target post and inserts it onto the post."}, {"label": "subtasks", "start_step": 1305, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green block down along the post to secure it in place."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green block onto the post of the wooden base."}, {"label": "goal", "start_step": 1491, "end_step": 1595, "id": "9a818c47-39bf-492f-b847-09dbd9a5d384"}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1596, "end_step": 1725, "id": "cf0cb8fb-ae03-48ca-a35f-984109727123"}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1628, "end_step": 1724, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white block placed on the top of the green block on the wooden base."}, {"label": "goal", "start_step": 1726, "end_step": 1845, "id": "5d8e0712-8279-4ded-a14f-9917894c56a8"}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downwards towards the white block on the black tabletop next to the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the black tabletop."}, {"label": "subtasks", "start_step": 1822, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the grasped white block upwards from the black tabletop."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand carries the lifted white block towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "goal", "start_step": 1846, "end_step": 2040, "id": "d66e4624-f6f5-4406-9d58-b85bb601018b"}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 2024, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting to fit it onto the rod properly."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white hexagonal block which is now fitted on the purple rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "goal", "start_step": 2041, "end_step": 2125, "id": "9085185e-7c64-45ff-9e08-43f72b516120"}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the desktop."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the desktop."}, {"label": "goal", "start_step": 2126, "end_step": 2250, "id": "31232179-3cfa-439f-90a4-334b18d69f6c"}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2249, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod, pressing it down to complete the assembly."}, {"label": "subtasks", "start_step": 2250, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward from the position near the white bottle array toward the green block on the table."}, {"label": "goal", "start_step": 2251, "end_step": 2350, "id": "36df4fbe-1d12-47b7-9948-8d34aa5140d5"}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand makes contact with the green block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green block on the table without any observable movement."}, {"label": "subtasks", "start_step": 2340, "end_step": 2399, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers slightly to form a stable grip."}, {"label": "goal", "start_step": 2351, "end_step": 2705, "id": "2c80cb20-2d1a-48cb-be64-cb92305d6985"}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2430, "end_step": 2691, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle for assembly."}, {"label": "subtasks", "start_step": 2692, "end_step": 2714, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green block down onto the white bottle to secure the assembly."}, {"label": "home", "start_step": 2877, "end_step": 2907, "id": "t00Kz_x0u_awPIP27uUMB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:adjust_position: Left hand moves slightly upward to adjust its position. | Right hand: reach: Right hand moves toward the white cylindrical parts on the central wooden base."}, {"label": "subtasks", "start_step": 22, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical parts on the central wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 104, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: push: Right hand pushes the white parts on the wooden base, tilting the wooden base to the left."}, {"label": "subtasks", "start_step": 105, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the green square block in front of the tilted wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}, {"label": "subtasks", "start_step": 172, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand opens fingers to release the grasped green square block."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple post of the wooden base by inserting it downward."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the green block onto the purple rod on the wooden base and releases the grip on the block."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 390, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 502, "end_step": 531, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it."}, {"label": "subtasks", "start_step": 532, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 651, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 652, "end_step": 697, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 810, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in position."}, {"label": "subtasks", "start_step": 840, "end_step": 877, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward to reach the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 981, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white ring on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves down towards the green square block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand touches the green square block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green block off the black tabletop."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the green block to the area above the target post on the wooden rack."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green block with the target post and inserts it onto the post."}, {"label": "subtasks", "start_step": 1305, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green block down along the post to secure it in place."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green block onto the post of the wooden base."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1605, "end_step": 1627, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1628, "end_step": 1724, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the green peg on the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white block placed on the top of the green block on the wooden base."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downwards towards the white block on the black tabletop next to the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1821, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the black tabletop."}, {"label": "subtasks", "start_step": 1822, "end_step": 1837, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the grasped white block upwards from the black tabletop."}, {"label": "subtasks", "start_step": 1838, "end_step": 1844, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand carries the lifted white block towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1882, "end_step": 2024, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting to fit it onto the rod properly."}, {"label": "subtasks", "start_step": 2025, "end_step": 2039, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white hexagonal block which is now fitted on the purple rod."}, {"label": "subtasks", "start_step": 2040, "end_step": 2054, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the desktop."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the desktop."}, {"label": "subtasks", "start_step": 2130, "end_step": 2144, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the black table surface."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2249, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod, pressing it down to complete the assembly."}, {"label": "subtasks", "start_step": 2250, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward from the position near the white bottle array toward the green block on the table."}, {"label": "subtasks", "start_step": 2302, "end_step": 2324, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand makes contact with the green block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2339, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green block on the table without any observable movement."}, {"label": "subtasks", "start_step": 2340, "end_step": 2399, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers slightly to form a stable grip."}, {"label": "subtasks", "start_step": 2400, "end_step": 2429, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2430, "end_step": 2691, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle for assembly."}, {"label": "subtasks", "start_step": 2692, "end_step": 2714, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green block down onto the white bottle to secure the assembly."}], "episode_index": 10}
+{"source_uid": "22cebcc5fecd831a", "num_frames": 3364, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: idle: Right hand remains empty at the upper right initial position, away from the table objects, without noticeable movement."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "328d8bbf-1e1f-4b81-be9b-8d86f362e790"}, {"label": "valid", "start_step": 0, "end_step": 3333, "id": "rZxGFHGfIBlgXZo6nEu-a"}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward and leftward toward the green hexagonal nut positioned in front-left of the wooden block base."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers to contact the green hexagonal nut on the table, adjusting finger positions to establish a grip."}, {"label": "goal", "start_step": 161, "end_step": 280, "id": "be9a3a2e-56cf-4a4f-b4c9-3d721fb39f11"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block upward off the table surface and moves it to the position directly above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand moves the green hexagonal block downward to align and fit it onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate_release: Right hand holds the green hexagonal block, aligns it with the purple peg on the wooden pegboard, moves the block downward to fit it onto the peg, and releases the block."}, {"label": "goal", "start_step": 281, "end_step": 405, "id": "4375cf72-6933-48b2-bf71-389eaaf946e0"}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the frontmost white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the frontmost white hexagonal block on the table to establish a grasp."}, {"label": "goal", "start_step": 406, "end_step": 590, "id": "f114d0a5-279a-4b41-8d36-cdd0ab4fc65f"}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the work surface and moves it backward and upward to the position above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 442, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and makes small adjustments to guide the nut down the peg for assembly."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple rod on the wooden base and releases the held block."}, {"label": "goal", "start_step": 591, "end_step": 695, "id": "bbcd1145-6af9-4773-bfde-79b059f7ceb3"}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight adjustments to establish a stable grip."}, {"label": "goal", "start_step": 696, "end_step": 850, "id": "b42ee41b-4680-4b93-9f7a-6224b01b3d23"}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely away from the black table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 742, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat it on the purple rod of the wooden assembly base, and opens fingers to release the block."}, {"label": "goal", "start_step": 851, "end_step": 970, "id": "adb95d43-0da5-4d5e-881c-effc7ebcb16c"}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal cylinder placed on the table near the wooden base, fingers tightening to stabilize the grasp."}, {"label": "goal", "start_step": 971, "end_step": 1075, "id": "a8a9e935-9b31-446c-8354-2f4dbb69039b"}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder off the table surface and moves it upward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple rod on the wooden base and lowers it to fit onto the rod, completing the assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal cylinder fitted on the purple rod without moving, maintaining a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1101, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand holds the white hexagonal nut, moves it downward to place it onto the purple rod on the wooden base, fingers open to release the nut."}, {"label": "goal", "start_step": 1076, "end_step": 1190, "id": "6beb98da-4bdb-48ba-a847-b64b1e4fddee"}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers gradually close and adjust contact position to establish a grasp on the block."}, {"label": "goal", "start_step": 1191, "end_step": 1405, "id": "334eb46b-1151-4d61-b461-7cadba7305ed"}, {"label": "subtasks", "start_step": 1222, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface, moving it upward and backward to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, makes slight positional adjustments, and moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place: Right hand holds the green hexagonal block and moves it downward to place it onto the stacked blocks on the wooden base until the block is supported."}, {"label": "goal", "start_step": 1406, "end_step": 1515, "id": "de5d8e32-7bbd-4d32-aa19-849010d93db6"}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating from the block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block near the green block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1551, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to establish a grip."}, {"label": "goal", "start_step": 1516, "end_step": 1740, "id": "c41d2857-c1e2-4f04-8a8e-178a94e02dfe"}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal prism upward until it fully separates from the table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand moves the lifted white hexagonal prism toward the wooden block assembly, positioning it directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal prism with the purple vertical rod, lowering the prism to fit onto the rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1739, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal prism fitted on the purple rod of the wooden assembly without any observable movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it on the corresponding peg of the wooden assembly base, releasing the block as it is supported by the peg."}, {"label": "goal", "start_step": 1741, "end_step": 1895, "id": "915380bc-65bc-4abf-839f-f281b358b9b2"}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty from above the wooden assembly base toward the small white hexagonal block on the table adjacent to the base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal block on the table, making minor finger adjustments to establish a secure grasp on the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand holds the small white cylindrical block and lifts it upward off the dark table surface."}, {"label": "goal", "start_step": 1896, "end_step": 2055, "id": "a238d5cd-9000-4936-8dcb-3f090d82354e"}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the small white cylindrical block upward and leftward to the position directly above the purple rod on the light wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the small white cylindrical block stationary directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate_release: Right hand lowers the small white cylindrical block downward to fit it onto the purple rod, fingers opening to release the block onto the supporting wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand places the purple cylindrical post into the corresponding hole on the wooden block base, opens fingers to release the stably seated post."}, {"label": "goal", "start_step": 2056, "end_step": 2165, "id": "25d1009b-caa0-4352-9eb6-61084916a3e3"}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward toward the small white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting contact points to form a stable grip."}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the small white hexagonal block on the table surface with no observable movement of the hand or block."}, {"label": "goal", "start_step": 2166, "end_step": 2345, "id": "a4670e1b-d83e-463d-b0ba-1f906f93253d"}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand lifts the grasped small white cylindrical block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted small white cylindrical block upward and toward the empty hole on the wooden block rack."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the small white cylindrical block with the empty hole on the wooden rack and inserts the block into the hole."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the inserted small white cylindrical block in the rack hole without moving."}, {"label": "subtasks", "start_step": 2332, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: release: Right hand opens fingers to release the small white cylindrical block settled in the rack hole."}, {"label": "subtasks", "start_step": 2340, "end_step": 2407, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty along an arcing path downward and rightward to approach the green square block on the dark gray work surface."}, {"label": "goal", "start_step": 2346, "end_step": 2445, "id": "14fb5393-7c17-44df-a15c-b4c9f8dbaeff"}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green square block to establish a secure grasp."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand grips the green block on the black table surface and lifts it upward, raising the block completely off the table."}, {"label": "goal", "start_step": 2446, "end_step": 3285, "id": "0c52d63d-6d66-424a-9227-092f8e4ff3eb"}, {"label": "subtasks", "start_step": 2468, "end_step": 2511, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted green block upward and toward the top right area of the wooden block rack, moving the block above the rightmost white cylinder."}, {"label": "subtasks", "start_step": 2512, "end_step": 2609, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand holds the green block above the rightmost white cylinder, adjusts the block's position to align with the cylinder, and attempts to fit the block onto the cylinder before the block slips and falls to the table."}, {"label": "subtasks", "start_step": 2610, "end_step": 2721, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward from the rack area toward the green block that fell onto the right side of the table, approaching the block."}, {"label": "subtasks", "start_step": 2722, "end_step": 2751, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the fallen green block on the table, establishing a stable grip on the block."}, {"label": "subtasks", "start_step": 2752, "end_step": 2804, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the grasped green block upward and leftward toward the front of the wooden rack, moving the block to a position just above the table surface in front of the rack."}, {"label": "subtasks", "start_step": 2805, "end_step": 2819, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand lowers the green block onto the table surface in front of the rack, then opens fingers to release the block, separating the hand from the block."}, {"label": "subtasks", "start_step": 2820, "end_step": 2864, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty a short distance toward the green block placed on the table in front of the rack, approaching to grasp the block again."}, {"label": "subtasks", "start_step": 2865, "end_step": 3059, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reorient: Right hand holds the green block just above the table in front of the rack, rotates the wrist repeatedly to adjust the block's orientation by small angles, making fine adjustments to align the block's central hole."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: release: Right hand opens fingers to release the green block, allowing the block to rest on the table surface as the hand separates from the block."}, {"label": "subtasks", "start_step": 3075, "end_step": 3104, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: idle: Right hand remains empty next to the green block on the table, staying stationary without contacting any objects."}, {"label": "subtasks", "start_step": 3105, "end_step": 3179, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand moves slightly toward the green block, closes fingers around the block to establish a secure grip, adjusting finger contact points to stabilize the hold."}, {"label": "subtasks", "start_step": 3180, "end_step": 3194, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand grips the green block and lifts it upward, raising the block completely off the table surface."}, {"label": "subtasks", "start_step": 3195, "end_step": 3231, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted green block upward, moving the block to a position directly above the rightmost white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 3232, "end_step": 3299, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the green block's central hole with the top of the rightmost white cylinder, lowers the block to fit it onto the cylinder, adjusting position until the block sits stably on the cylinder."}, {"label": "home", "start_step": 3334, "end_step": 3363, "id": "MtgvYkx41Wtzf9z93SStr"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: idle: Right hand remains empty at the upper right initial position, away from the table objects, without noticeable movement."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward and leftward toward the green hexagonal nut positioned in front-left of the wooden block base."}, {"label": "subtasks", "start_step": 120, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers to contact the green hexagonal nut on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block upward off the table surface and moves it to the position directly above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand moves the green hexagonal block downward to align and fit it onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate_release: Right hand holds the green hexagonal block, aligns it with the purple peg on the wooden pegboard, moves the block downward to fit it onto the peg, and releases the block."}, {"label": "subtasks", "start_step": 308, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the frontmost white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the frontmost white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the work surface and moves it backward and upward to the position above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 442, "end_step": 584, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and makes small adjustments to guide the nut down the peg for assembly."}, {"label": "subtasks", "start_step": 585, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple rod on the wooden base and releases the held block."}, {"label": "subtasks", "start_step": 630, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely away from the black table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air toward the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 742, "end_step": 839, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 840, "end_step": 869, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat it on the purple rod of the wooden assembly base, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal cylinder placed on the table near the wooden base, fingers tightening to stabilize the grasp."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder off the table surface and moves it upward to position it directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple rod on the wooden base and lowers it to fit onto the rod, completing the assembly."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal cylinder fitted on the purple rod without moving, maintaining a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1101, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand holds the white hexagonal nut, moves it downward to place it onto the purple rod on the wooden base, fingers open to release the nut."}, {"label": "subtasks", "start_step": 1102, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1221, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers gradually close and adjust contact position to establish a grasp on the block."}, {"label": "subtasks", "start_step": 1222, "end_step": 1259, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface, moving it upward and backward to a position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1260, "end_step": 1394, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, makes slight positional adjustments, and moves the block downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place: Right hand holds the green hexagonal block and moves it downward to place it onto the stacked blocks on the wooden base until the block is supported."}, {"label": "subtasks", "start_step": 1432, "end_step": 1447, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating from the block."}, {"label": "subtasks", "start_step": 1448, "end_step": 1469, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block near the green block on the table."}, {"label": "subtasks", "start_step": 1470, "end_step": 1551, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to establish a grip."}, {"label": "subtasks", "start_step": 1552, "end_step": 1567, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal prism upward until it fully separates from the table surface."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand moves the lifted white hexagonal prism toward the wooden block assembly, positioning it directly above the purple vertical rod."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal prism with the purple vertical rod, lowering the prism to fit onto the rod."}, {"label": "subtasks", "start_step": 1628, "end_step": 1739, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal prism fitted on the purple rod of the wooden assembly without any observable movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1814, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it on the corresponding peg of the wooden assembly base, releasing the block as it is supported by the peg."}, {"label": "subtasks", "start_step": 1815, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty from above the wooden assembly base toward the small white hexagonal block on the table adjacent to the base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal block on the table, making minor finger adjustments to establish a secure grasp on the block."}, {"label": "subtasks", "start_step": 1890, "end_step": 1919, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand holds the small white cylindrical block and lifts it upward off the dark table surface."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the small white cylindrical block upward and leftward to the position directly above the purple rod on the light wooden base."}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the small white cylindrical block stationary directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate_release: Right hand lowers the small white cylindrical block downward to fit it onto the purple rod, fingers opening to release the block onto the supporting wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand places the purple cylindrical post into the corresponding hole on the wooden block base, opens fingers to release the stably seated post."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward toward the small white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2115, "end_step": 2144, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting contact points to form a stable grip."}, {"label": "subtasks", "start_step": 2145, "end_step": 2204, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the small white hexagonal block on the table surface with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 2205, "end_step": 2234, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand lifts the grasped small white cylindrical block upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2264, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted small white cylindrical block upward and toward the empty hole on the wooden block rack."}, {"label": "subtasks", "start_step": 2265, "end_step": 2309, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the small white cylindrical block with the empty hole on the wooden rack and inserts the block into the hole."}, {"label": "subtasks", "start_step": 2310, "end_step": 2331, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the inserted small white cylindrical block in the rack hole without moving."}, {"label": "subtasks", "start_step": 2332, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: release: Right hand opens fingers to release the small white cylindrical block settled in the rack hole."}, {"label": "subtasks", "start_step": 2340, "end_step": 2407, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty along an arcing path downward and rightward to approach the green square block on the dark gray work surface."}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green square block to establish a secure grasp."}, {"label": "subtasks", "start_step": 2445, "end_step": 2467, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand grips the green block on the black table surface and lifts it upward, raising the block completely off the table."}, {"label": "subtasks", "start_step": 2468, "end_step": 2511, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted green block upward and toward the top right area of the wooden block rack, moving the block above the rightmost white cylinder."}, {"label": "subtasks", "start_step": 2512, "end_step": 2609, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand holds the green block above the rightmost white cylinder, adjusts the block's position to align with the cylinder, and attempts to fit the block onto the cylinder before the block slips and falls to the table."}, {"label": "subtasks", "start_step": 2610, "end_step": 2721, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward from the rack area toward the green block that fell onto the right side of the table, approaching the block."}, {"label": "subtasks", "start_step": 2722, "end_step": 2751, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the fallen green block on the table, establishing a stable grip on the block."}, {"label": "subtasks", "start_step": 2752, "end_step": 2804, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the grasped green block upward and leftward toward the front of the wooden rack, moving the block to a position just above the table surface in front of the rack."}, {"label": "subtasks", "start_step": 2805, "end_step": 2819, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand lowers the green block onto the table surface in front of the rack, then opens fingers to release the block, separating the hand from the block."}, {"label": "subtasks", "start_step": 2820, "end_step": 2864, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty a short distance toward the green block placed on the table in front of the rack, approaching to grasp the block again."}, {"label": "subtasks", "start_step": 2865, "end_step": 3059, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reorient: Right hand holds the green block just above the table in front of the rack, rotates the wrist repeatedly to adjust the block's orientation by small angles, making fine adjustments to align the block's central hole."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: release: Right hand opens fingers to release the green block, allowing the block to rest on the table surface as the hand separates from the block."}, {"label": "subtasks", "start_step": 3075, "end_step": 3104, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: idle: Right hand remains empty next to the green block on the table, staying stationary without contacting any objects."}, {"label": "subtasks", "start_step": 3105, "end_step": 3179, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand moves slightly toward the green block, closes fingers around the block to establish a secure grip, adjusting finger contact points to stabilize the hold."}, {"label": "subtasks", "start_step": 3180, "end_step": 3194, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand grips the green block and lifts it upward, raising the block completely off the table surface."}, {"label": "subtasks", "start_step": 3195, "end_step": 3231, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted green block upward, moving the block to a position directly above the rightmost white cylinder on the wooden rack."}, {"label": "subtasks", "start_step": 3232, "end_step": 3299, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the green block's central hole with the top of the rightmost white cylinder, lowers the block to fit it onto the cylinder, adjusting position until the block sits stably on the cylinder."}], "episode_index": 11}
+{"source_uid": "3f1be2cffc6fdae5", "num_frames": 2630, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace without contacting any objects, staying stationary."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "1c54f4e5-76ae-44aa-8689-513b557eb97a"}, {"label": "valid", "start_step": 0, "end_step": 2594, "id": "2uX7cDMssmnLwLDYy8d9W"}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves toward the green hexagonal block positioned at the front-left of the wooden peg base, approaching the target block with an empty hand."}, {"label": "subtasks", "start_step": 98, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table, making small adjustments to finger and wrist positions to establish a stable grip on the block."}, {"label": "goal", "start_step": 201, "end_step": 370, "id": "59b32dd9-1d41-4488-a09e-2847b29739cf"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block vertically upward off the table surface and moves the block to the position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 240, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost purple peg and moves the block downward along the peg to fit onto the wooden assembly base."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the left purple rod of the wooden base, and releases the block after it rests stably on the wooden base."}, {"label": "goal", "start_step": 371, "end_step": 480, "id": "a24cb451-d34a-437f-ad57-26a438df4cf4"}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the front white hexagonal block on the black table surface, approaching the block without contact."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand makes contact with the target front white hexagonal block, fingers close and make small adjustments to form a stable grip on the block, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface, and moves it upward to the position directly above the purple peg on the small wooden base."}, {"label": "goal", "start_step": 481, "end_step": 655, "id": "51795f6c-9a13-47ef-a20c-11d98962000e"}, {"label": "subtasks", "start_step": 518, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand makes slight positional adjustments to align the held white hexagonal block with the purple peg, and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 645, "end_step": 741, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns it with the leftmost purple peg on the wooden assembly base, fits the nut securely onto the peg, and releases the nut with opened fingers."}, {"label": "goal", "start_step": 656, "end_step": 835, "id": "022838b7-807c-4c0c-889e-cc918fd4b2ce"}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward with open fingers toward the loose white hexagonal nut resting on the dark work surface."}, {"label": "subtasks", "start_step": 780, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal nut on the dark work surface, making small adjustments of the fingers and wrist to establish a stable grip on the nut."}, {"label": "goal", "start_step": 836, "end_step": 1045, "id": "76a1a41b-60fb-4803-8e2a-7b8c98469366"}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical object off the black table surface and moves it upward toward the wooden block rack."}, {"label": "subtasks", "start_step": 908, "end_step": 981, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the hole of the white cylindrical object with the purple rod on the wooden rack, and moves the object downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white cylindrical object that is fitted onto the purple rod of the wooden rack without any observable movement."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut placed on the purple peg of the wooden assembly board."}, {"label": "goal", "start_step": 1046, "end_step": 1210, "id": "d6addeb9-0a80-493c-bf90-a9f83dcbbd79"}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward from the wooden assembly board area toward the front white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1221, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut, making small adjustments to finger positions to form a secure grip."}, {"label": "goal", "start_step": 1211, "end_step": 1335, "id": "bff7be4c-6876-4a1e-8c77-e56490e400d5"}, {"label": "subtasks", "start_step": 1222, "end_step": 1237, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand lifts the grasped white cylindrical object vertically upward until the object is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted white cylindrical object horizontally to position it directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1334, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the hollow bottom of the white cylindrical object with the purple peg, making small positional adjustments while lowering the object to fit it onto the peg."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: press_release: Right hand presses the white cylindrical block downward along the purple peg on the wooden base to seat it fully, and releases the block."}, {"label": "goal", "start_step": 1336, "end_step": 1420, "id": "964f9a95-f268-4356-9f9e-e029cfb008af"}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the left area of the table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making small adjustments to finger positions to establish a secure grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand holds the green hexagonal block with a central hole and lifts it upward from the black table surface until the block fully separates from the table."}, {"label": "goal", "start_step": 1421, "end_step": 1535, "id": "ae759500-76cd-44e4-93ef-ea2599b0ec04"}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the purple rod on the wooden base, moving the block to a position directly above the target rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, making slight positional adjustments while lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the green block positioned on the wooden assembly base."}, {"label": "goal", "start_step": 1536, "end_step": 1660, "id": "9eea6e1d-bc63-4560-a4c5-615d2969b6aa"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand holds the white cylindrical block and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 1661, "end_step": 1745, "id": "d369ce63-624f-404e-8658-b52a8b220657"}, {"label": "subtasks", "start_step": 1672, "end_step": 1701, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted white cylindrical block upward and forward toward the wooden assembly base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1731, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod on the base and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1732, "end_step": 1739, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand releases the white cylindrical block on top of the stacked block assembly, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 1746, "end_step": 1830, "id": "478863b9-d3f3-469e-aa58-cb746182d5c1"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty toward the white hollow hexagonal block adjacent to the wooden base on the table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hollow hexagonal block to form a stable grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand holds the white hollow cylinder resting on the black table surface, and lifts the cylinder upward until it is fully separated from the table."}, {"label": "goal", "start_step": 1831, "end_step": 2000, "id": "4769b6c2-b4a5-421b-a15c-d96b34fcd8cd"}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted white hollow cylinder, moving it upward and toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple rod, and moves the cylinder downward to fit onto the rod until it rests on the stacked block below."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the purple rod without any observable movement of the hand or the cylinder."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hollow cylinder on the purple rod, separating the hand from the cylinder surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: place_release: Right hand sets the white cylindrical block onto the wooden base along the purple rod, fingers opening to separate from the supported block."}, {"label": "goal", "start_step": 2001, "end_step": 2105, "id": "470378ce-67ad-4e66-a0a6-166dd20d8502"}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty in a downward-right direction across the dark table surface toward the small white hexagonal block."}, {"label": "subtasks", "start_step": 2055, "end_step": 2099, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand contacts the small white hexagonal block on the table, closing fingers and adjusting contact points to establish a grip on the block."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand lifts the white block it is holding upward until the block is fully separated from the dark table surface."}, {"label": "goal", "start_step": 2106, "end_step": 2225, "id": "fc16fca7-6c56-40c1-ad71-a4327c8b8c63"}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand transports the grasped white block upward and leftward to position it directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white block with the purple rod on the wooden base, moves the block downward to fit it onto the rod until it rests on the lower white block."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the white block, separating from the block fitted on the purple rod of the wooden base."}, {"label": "goal", "start_step": 2226, "end_step": 2315, "id": "c9e3eb81-a0ba-4b13-9252-66179f1fe64f"}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty diagonally downward toward the green square block on the dark gray table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2265, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand positions fingers around the green square block, closing fingers and making small adjustments to contact points to form a grip on the block."}, {"label": "goal", "start_step": 2316, "end_step": 2490, "id": "59457c6a-d7b0-45a4-ae44-4f2bd518bac5"}, {"label": "subtasks", "start_step": 2332, "end_step": 2377, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the green block completely off the dark work surface and moves it upward toward the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2378, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align it with the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: place: Right hand lowers the aligned green block into the empty slot until the block is fully supported by the wooden holder."}, {"label": "subtasks", "start_step": 2415, "end_step": 2504, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the green block positioned in the wooden holder slot without visible movement of the hand or block."}, {"label": "home", "start_step": 2595, "end_step": 2629, "id": "SY_OdVFq2lmod83srMyAU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace without contacting any objects, staying stationary."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves toward the green hexagonal block positioned at the front-left of the wooden peg base, approaching the target block with an empty hand."}, {"label": "subtasks", "start_step": 98, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table, making small adjustments to finger and wrist positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block vertically upward off the table surface and moves the block to the position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 240, "end_step": 359, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost purple peg and moves the block downward along the peg to fit onto the wooden assembly base."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the left purple rod of the wooden base, and releases the block after it rests stably on the wooden base."}, {"label": "subtasks", "start_step": 398, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the front white hexagonal block on the black table surface, approaching the block without contact."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand makes contact with the target front white hexagonal block, fingers close and make small adjustments to form a stable grip on the block, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface, and moves it upward to the position directly above the purple peg on the small wooden base."}, {"label": "subtasks", "start_step": 518, "end_step": 644, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand makes slight positional adjustments to align the held white hexagonal block with the purple peg, and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 645, "end_step": 741, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns it with the leftmost purple peg on the wooden assembly base, fits the nut securely onto the peg, and releases the nut with opened fingers."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward with open fingers toward the loose white hexagonal nut resting on the dark work surface."}, {"label": "subtasks", "start_step": 780, "end_step": 884, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal nut on the dark work surface, making small adjustments of the fingers and wrist to establish a stable grip on the nut."}, {"label": "subtasks", "start_step": 885, "end_step": 907, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical object off the black table surface and moves it upward toward the wooden block rack."}, {"label": "subtasks", "start_step": 908, "end_step": 981, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the hole of the white cylindrical object with the purple rod on the wooden rack, and moves the object downward to fit it onto the rod."}, {"label": "subtasks", "start_step": 982, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white cylindrical object that is fitted onto the purple rod of the wooden rack without any observable movement."}, {"label": "subtasks", "start_step": 1035, "end_step": 1071, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut placed on the purple peg of the wooden assembly board."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward from the wooden assembly board area toward the front white hexagonal nut resting on the black table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1221, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut, making small adjustments to finger positions to form a secure grip."}, {"label": "subtasks", "start_step": 1222, "end_step": 1237, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand lifts the grasped white cylindrical object vertically upward until the object is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1251, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted white cylindrical object horizontally to position it directly above the purple vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1334, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the hollow bottom of the white cylindrical object with the purple peg, making small positional adjustments while lowering the object to fit it onto the peg."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: press_release: Right hand presses the white cylindrical block downward along the purple peg on the wooden base to seat it fully, and releases the block."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the left area of the table."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making small adjustments to finger positions to establish a secure grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand holds the green hexagonal block with a central hole and lifts it upward from the black table surface until the block fully separates from the table."}, {"label": "subtasks", "start_step": 1440, "end_step": 1461, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the purple rod on the wooden base, moving the block to a position directly above the target rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1529, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, making slight positional adjustments while lowering the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1530, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the green block positioned on the wooden assembly base."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1649, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand holds the white cylindrical block and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 1672, "end_step": 1701, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted white cylindrical block upward and forward toward the wooden assembly base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1731, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod on the base and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1732, "end_step": 1739, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand releases the white cylindrical block on top of the stacked block assembly, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty toward the white hollow hexagonal block adjacent to the wooden base on the table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hollow hexagonal block to form a stable grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand holds the white hollow cylinder resting on the black table surface, and lifts the cylinder upward until it is fully separated from the table."}, {"label": "subtasks", "start_step": 1860, "end_step": 1889, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted white hollow cylinder, moving it upward and toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1927, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple rod, and moves the cylinder downward to fit onto the rod until it rests on the stacked block below."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the purple rod without any observable movement of the hand or the cylinder."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hollow cylinder on the purple rod, separating the hand from the cylinder surface."}, {"label": "subtasks", "start_step": 1995, "end_step": 2017, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: place_release: Right hand sets the white cylindrical block onto the wooden base along the purple rod, fingers opening to separate from the supported block."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty in a downward-right direction across the dark table surface toward the small white hexagonal block."}, {"label": "subtasks", "start_step": 2055, "end_step": 2099, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand contacts the small white hexagonal block on the table, closing fingers and adjusting contact points to establish a grip on the block."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand lifts the white block it is holding upward until the block is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand transports the grasped white block upward and leftward to position it directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white block with the purple rod on the wooden base, moves the block downward to fit it onto the rod until it rests on the lower white block."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the white block, separating from the block fitted on the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 2242, "end_step": 2264, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty diagonally downward toward the green square block on the dark gray table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 2265, "end_step": 2331, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand positions fingers around the green square block, closing fingers and making small adjustments to contact points to form a grip on the block."}, {"label": "subtasks", "start_step": 2332, "end_step": 2377, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the green block completely off the dark work surface and moves it upward toward the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2378, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align it with the empty slot on the wooden block holder."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: place: Right hand lowers the aligned green block into the empty slot until the block is fully supported by the wooden holder."}, {"label": "subtasks", "start_step": 2415, "end_step": 2504, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the green block positioned in the wooden holder slot without visible movement of the hand or block."}], "episode_index": 12}
+{"source_uid": "e4282bc5d9b1be65", "num_frames": 3052, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the purple rod of the central wooden rack."}, {"label": "goal", "start_step": 0, "end_step": 215, "id": "515c6612-5e72-45dc-b678-35bb0bbcb771"}, {"label": "valid", "start_step": 0, "end_step": 3019, "id": "Ir0syEdsXm57H1maxmebL"}, {"label": "subtasks", "start_step": 82, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers and adjusts to grasp the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block away from the purple rod and carries it moving upwards."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the wooden base with purple pegs on the black table."}, {"label": "goal", "start_step": 216, "end_step": 330, "id": "7d3f39e7-fe14-4dc6-9900-8a64d306de48"}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the wooden base with purple pegs off the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the wooden base upward to the position above the aligned white hollow blocks."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the wooden base by inserting the purple pegs into the corresponding white hollow blocks."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 331, "end_step": 460, "id": "2ba91742-c830-4ba3-8c50-aeb03ea2f301"}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 382, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 461, "end_step": 640, "id": "cd406a91-5ce9-4162-ad67-74e511a04758"}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 562, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 641, "end_step": 770, "id": "404b3ab8-0485-43b3-a2bb-826e9f62578b"}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 771, "end_step": 890, "id": "7f0cf69d-e9c3-409e-9cdd-d72a2a71859b"}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 891, "end_step": 990, "id": "76b033af-4c34-4989-9de3-f451db710e10"}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 945, "end_step": 1011, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 991, "end_step": 1115, "id": "0ca5f2e4-03ac-430b-9c22-c5af9273d6b7"}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly upward away from the assembled block and peg."}, {"label": "goal", "start_step": 1116, "end_step": 1205, "id": "2834c8e7-939c-4ead-8f36-93d74b1620dd"}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cubic block on the table to adjust and establish stable grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upwards away from the table surface."}, {"label": "goal", "start_step": 1206, "end_step": 1540, "id": "ce0226ee-5edc-4555-92d8-62b9f0c7dc89"}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the top of the target peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the peg to assemble it in position."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the vertical peg on the wooden base."}, {"label": "goal", "start_step": 1541, "end_step": 1675, "id": "1aefdeee-c67b-48c2-8810-86e5f63b69cc"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base assembly area."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1676, "end_step": 1875, "id": "80985d43-19c1-45f3-ae9f-6a4cc37af9e9"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple post on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1748, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple post until it fits onto the green block below."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the white cylindrical block, fingers opening gradually."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical object on the table next to the wooden block rack."}, {"label": "goal", "start_step": 1876, "end_step": 1985, "id": "3e74c91c-f2e5-4a0b-b12f-0141e21ceff7"}, {"label": "subtasks", "start_step": 1935, "end_step": 2001, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white cylindrical object on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 1986, "end_step": 2110, "id": "b4d441e0-0311-4ded-8f27-afb9d41346c9"}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it above the empty slot of the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2099, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object into the empty slot on the right side of the wooden rack."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden block rack towards the lower right direction."}, {"label": "goal", "start_step": 2111, "end_step": 2240, "id": "3003c6ad-f6cf-4a4e-97ac-3de02927a7e3"}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white block on the table, with fingers adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 2235, "end_step": 2279, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the empty slot on the front right of the wooden rack."}, {"label": "goal", "start_step": 2241, "end_step": 2375, "id": "be50ef8c-63c5-433d-b87a-b981ec5827d0"}, {"label": "subtasks", "start_step": 2280, "end_step": 2369, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block into the empty slot on the front right of the wooden rack."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object with purple rod placed on the wooden tray."}, {"label": "goal", "start_step": 2376, "end_step": 2495, "id": "4d5f962c-9976-4dfd-a7db-01649e84c885"}, {"label": "subtasks", "start_step": 2392, "end_step": 2421, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2481, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2482, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without any observable movement."}, {"label": "subtasks", "start_step": 2490, "end_step": 2587, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block placed on the dark table surface."}, {"label": "goal", "start_step": 2496, "end_step": 2985, "id": "abcef55e-e7ac-44ae-822c-444f10a85c2c"}, {"label": "subtasks", "start_step": 2588, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2984, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle and presses it down to complete the assembly."}, {"label": "subtasks", "start_step": 2985, "end_step": 2999, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block which is now properly fitted onto the white bottle."}, {"label": "home", "start_step": 3020, "end_step": 3051, "id": "bThJ5Lyp--12L3VCq5X-Z"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the purple rod of the central wooden rack."}, {"label": "subtasks", "start_step": 82, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers and adjusts to grasp the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block away from the purple rod and carries it moving upwards."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the wooden base with purple pegs on the black table."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the wooden base with purple pegs off the black table surface."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the wooden base upward to the position above the aligned white hollow blocks."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the wooden base by inserting the purple pegs into the corresponding white hollow blocks."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 382, "end_step": 531, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 532, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 562, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block placed on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 794, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 884, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 945, "end_step": 1011, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1012, "end_step": 1034, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly upward away from the assembled block and peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cubic block on the table to adjust and establish stable grip."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upwards away from the table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the target peg on the wooden base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the top of the target peg."}, {"label": "subtasks", "start_step": 1260, "end_step": 1529, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the peg to assemble it in position."}, {"label": "subtasks", "start_step": 1530, "end_step": 1559, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the vertical peg on the wooden base."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base assembly area."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1605, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple post on the wooden base for assembly."}, {"label": "subtasks", "start_step": 1748, "end_step": 1867, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple post until it fits onto the green block below."}, {"label": "subtasks", "start_step": 1868, "end_step": 1874, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the white cylindrical block, fingers opening gradually."}, {"label": "subtasks", "start_step": 1875, "end_step": 1934, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical object on the table next to the wooden block rack."}, {"label": "subtasks", "start_step": 1935, "end_step": 2001, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white cylindrical object on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2002, "end_step": 2031, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it above the empty slot of the wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2099, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object into the empty slot on the right side of the wooden rack."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden block rack towards the lower right direction."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white block on the black table surface."}, {"label": "subtasks", "start_step": 2168, "end_step": 2234, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white block on the table, with fingers adjusting to form a stable grasp."}, {"label": "subtasks", "start_step": 2235, "end_step": 2279, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the empty slot on the front right of the wooden rack."}, {"label": "subtasks", "start_step": 2280, "end_step": 2369, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block into the empty slot on the front right of the wooden rack."}, {"label": "subtasks", "start_step": 2370, "end_step": 2391, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object with purple rod placed on the wooden tray."}, {"label": "subtasks", "start_step": 2392, "end_step": 2421, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2481, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2482, "end_step": 2489, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without any observable movement."}, {"label": "subtasks", "start_step": 2490, "end_step": 2587, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block placed on the dark table surface."}, {"label": "subtasks", "start_step": 2588, "end_step": 2661, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2984, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle and presses it down to complete the assembly."}, {"label": "subtasks", "start_step": 2985, "end_step": 2999, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block which is now properly fitted onto the white bottle."}], "episode_index": 13}
+{"source_uid": "ebf73cad50d11221", "num_frames": 3708, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the right side of the workspace without moving."}, {"label": "goal", "start_step": 0, "end_step": 205, "id": "ab6ded85-9bff-4321-9021-07b9704cb850"}, {"label": "valid", "start_step": 0, "end_step": 3676, "id": "EWBIhJvgW-J3MHQEh26J6"}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves down and left toward the green hexagonal block on the table adjacent to the wooden pegboard, with fingers held open."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions and wrist angle to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it upward off the black table surface, and moves it directly above the purple peg on the light wooden base."}, {"label": "goal", "start_step": 206, "end_step": 305, "id": "5fb9a407-8f81-4896-af19-f577e6e864d6"}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green block with the purple peg, lowers it to fit onto the peg, and makes slight finger adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green block stably seated on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple peg until it rests on the wooden board, fingers opening to separate from the block."}, {"label": "goal", "start_step": 306, "end_step": 420, "id": "88e363f1-887d-4f15-98b2-51e16ac01f20"}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal block placed on the table surface in front of the wooden board."}, {"label": "subtasks", "start_step": 368, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions and closing fingers to form a grip on the block."}, {"label": "goal", "start_step": 421, "end_step": 605, "id": "7c7a5268-fa42-44c5-8401-4e970746f4bd"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to the position above the purple peg on the light wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg, resting on the green block beneath."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple peg without moving, with the nut supported by the green block below."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the white hexagonal nut, separating from the nut surface by the end of the segment."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block mounted on the left purple peg of the wooden base without moving."}, {"label": "goal", "start_step": 606, "end_step": 745, "id": "783044dd-a808-4fdf-b3ba-75853a0069a4"}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens fingers to release the previously held white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 638, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward and forward toward the white hexagonal block resting on the dark table in the front-middle area."}, {"label": "subtasks", "start_step": 682, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts fingers around the front-middle white hexagonal block, closing fingers to establish a grip on the block."}, {"label": "goal", "start_step": 746, "end_step": 1190, "id": "6e2ea45e-c2dd-41e8-a09f-12bc8af313fe"}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is completely separated from the dark table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the grasped white hexagonal nut toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 802, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple rod on the wooden base, moves the nut downward to fit it onto the rod until it rests on the lower green-white assembly."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut on the purple rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the purple peg on the wooden base, nests the block onto the peg and opens fingers to release the assembled block."}, {"label": "goal", "start_step": 1191, "end_step": 1395, "id": "1f67fda1-1ec8-47ae-bfa7-c2bd8bfdd697"}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward from the upper assembly area toward the white hexagonal block near the front edge of the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the target white hexagonal block on the table, closes fingers and adjusts contact points to form a grasp on the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward off the supporting surface near the wooden base."}, {"label": "goal", "start_step": 1396, "end_step": 1695, "id": "15a59109-4b3a-443d-aa42-9f4488924543"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the white hexagonal block upward to position it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post, fits the block onto the post, and makes slight positional adjustments during the assembly process."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand holds the white block, lowers it onto the wooden assembly base until the block is supported, and opens fingers to release the block."}, {"label": "goal", "start_step": 1696, "end_step": 1795, "id": "f5d1baa8-5de1-490f-a26c-373bf36cf8ef"}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward with empty hand toward the green block placed on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green block on the table to form a grasp."}, {"label": "goal", "start_step": 1796, "end_step": 1955, "id": "0e1bbf34-fc8f-4799-a72b-aa393bc83952"}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to a position above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1927, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central opening of the green hexagonal block with the purple rod and lowers the block to engage it with the rod."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block positioned on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens fingers around the green cylindrical block on the purple rod of the wooden block assembly, releasing grip on the block."}, {"label": "goal", "start_step": 1956, "end_step": 2080, "id": "5b514a76-9cd3-4b1c-8fdb-210e25e5d8a2"}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downwards from the wooden block assembly toward the white hexagonal nut resting on the dark table surface, approaching the target."}, {"label": "subtasks", "start_step": 2040, "end_step": 2091, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the dark table surface to form a grip on the object."}, {"label": "goal", "start_step": 2081, "end_step": 2200, "id": "c1170159-cfc4-48a5-ad25-530c9c00f22a"}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully lifted off the black table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the white hexagonal nut through the air toward the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 2130, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod."}, {"label": "goal", "start_step": 2201, "end_step": 2415, "id": "78dabee0-edcc-4d76-b148-df4bcdb0b48b"}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the assembled white hexagonal block, fully separating the hand from the block."}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward and to the right, approaching the white hexagonal block placed adjacent to the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2407, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal block on the table, adjusting contact points to form a stable grip while the block rests on the table surface."}, {"label": "subtasks", "start_step": 2408, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting the block completely off the table surface by the end of the segment."}, {"label": "subtasks", "start_step": 2415, "end_step": 2489, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport_place: Right hand holds the white cylindrical block with a green base, moves it upward and leftward from the right area above the dark table surface to the empty peg of the light wooden block rack, lowers the block to seat it firmly on the peg."}, {"label": "goal", "start_step": 2416, "end_step": 2525, "id": "4f6fdf1e-6ae9-42e6-af92-aba2ffeee174"}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the seated white cylindrical block with a green base on the wooden rack peg without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2520, "end_step": 2557, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand moves the grasped white cylindrical block downward along the purple rod to rest on the wooden tray, opening fingers to release contact with the block."}, {"label": "goal", "start_step": 2526, "end_step": 2650, "id": "20012a1d-4aa5-44d8-a6bb-1a9838bb2439"}, {"label": "subtasks", "start_step": 2558, "end_step": 2594, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves diagonally down and right toward the white hexagonal block on the dark table surface, staying empty throughout the movement."}, {"label": "subtasks", "start_step": 2595, "end_step": 2661, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the dark table surface, closing fingers and making slight adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 2651, "end_step": 2785, "id": "992b9aa3-da26-4238-823a-28f7ce58e4b8"}, {"label": "subtasks", "start_step": 2662, "end_step": 2699, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block completely off the dark table surface, then moves it upward and leftward toward the empty position on the wooden block tray."}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the held white cylindrical block with the empty slot on the wooden tray, and lowers it to fit into place with the adjacent stacked blocks."}, {"label": "subtasks", "start_step": 2738, "end_step": 2774, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white cylindrical block steady in its assembled position on the wooden tray without any observable movement."}, {"label": "subtasks", "start_step": 2775, "end_step": 2849, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty diagonally downward toward the green cube resting on the black table surface."}, {"label": "goal", "start_step": 2786, "end_step": 2905, "id": "bd53d533-a655-4f35-871f-8e41ca4ff794"}, {"label": "subtasks", "start_step": 2850, "end_step": 2939, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the green cube, closes fingers and makes slight positional adjustments to establish a grip on the cube."}, {"label": "goal", "start_step": 2906, "end_step": 3660, "id": "57e5c996-42d9-4a17-af4d-ecf86fbf208d"}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2955, "end_step": 2991, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand moves the lifted green block upward and leftward to the position directly above the purple cylindrical post on the white and green block tray."}, {"label": "subtasks", "start_step": 2992, "end_step": 3644, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand makes fine adjustments to the position and orientation of the green block to align its central hole with the purple post, gradually lowering the block to fit onto the post."}, {"label": "subtasks", "start_step": 3645, "end_step": 3659, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand lowers the green block fully onto the supporting white block on the purple post, then opens its fingers to release contact with the green block."}, {"label": "subtasks", "start_step": 3660, "end_step": 3674, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand moves empty in an upward-right direction away from the assembled green block on the tray."}, {"label": "home", "start_step": 3677, "end_step": 3707, "id": "eTTL7plOCenPzkB_f8j1S"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the right side of the workspace without moving."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves down and left toward the green hexagonal block on the table adjacent to the wooden pegboard, with fingers held open."}, {"label": "subtasks", "start_step": 98, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions and wrist angle to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface without moving."}, {"label": "subtasks", "start_step": 195, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it upward off the black table surface, and moves it directly above the purple peg on the light wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green block with the purple peg, lowers it to fit onto the peg, and makes slight finger adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green block stably seated on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple peg until it rests on the wooden board, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal block placed on the table surface in front of the wooden board."}, {"label": "subtasks", "start_step": 368, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions and closing fingers to form a grip on the block."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to the position above the purple peg on the light wooden base."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg, resting on the green block beneath."}, {"label": "subtasks", "start_step": 495, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple peg without moving, with the nut supported by the green block below."}, {"label": "subtasks", "start_step": 578, "end_step": 599, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the white hexagonal nut, separating from the nut surface by the end of the segment."}, {"label": "subtasks", "start_step": 600, "end_step": 621, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block mounted on the left purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 622, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens fingers to release the previously held white hexagonal block on the purple peg."}, {"label": "subtasks", "start_step": 638, "end_step": 681, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward and forward toward the white hexagonal block resting on the dark table in the front-middle area."}, {"label": "subtasks", "start_step": 682, "end_step": 764, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts fingers around the front-middle white hexagonal block, closing fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 765, "end_step": 779, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is completely separated from the dark table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the grasped white hexagonal nut toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 802, "end_step": 1169, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple rod on the wooden base, moves the nut downward to fit it onto the rod until it rests on the lower green-white assembly."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut on the purple rod."}, {"label": "subtasks", "start_step": 1185, "end_step": 1259, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the purple peg on the wooden base, nests the block onto the peg and opens fingers to release the assembled block."}, {"label": "subtasks", "start_step": 1260, "end_step": 1319, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward from the upper assembly area toward the white hexagonal block near the front edge of the wooden base."}, {"label": "subtasks", "start_step": 1320, "end_step": 1394, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the target white hexagonal block on the table, closes fingers and adjusts contact points to form a grasp on the block."}, {"label": "subtasks", "start_step": 1395, "end_step": 1417, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward off the supporting surface near the wooden base."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the white hexagonal block upward to position it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1694, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post, fits the block onto the post, and makes slight positional adjustments during the assembly process."}, {"label": "subtasks", "start_step": 1695, "end_step": 1739, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand holds the white block, lowers it onto the wooden assembly base until the block is supported, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1740, "end_step": 1769, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward with empty hand toward the green block placed on the black table surface."}, {"label": "subtasks", "start_step": 1770, "end_step": 1799, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green block on the table to form a grasp."}, {"label": "subtasks", "start_step": 1800, "end_step": 1837, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to a position above the purple vertical rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1838, "end_step": 1927, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central opening of the green hexagonal block with the purple rod and lowers the block to engage it with the rod."}, {"label": "subtasks", "start_step": 1928, "end_step": 1949, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block positioned on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1950, "end_step": 2001, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens fingers around the green cylindrical block on the purple rod of the wooden block assembly, releasing grip on the block."}, {"label": "subtasks", "start_step": 2002, "end_step": 2039, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downwards from the wooden block assembly toward the white hexagonal nut resting on the dark table surface, approaching the target."}, {"label": "subtasks", "start_step": 2040, "end_step": 2091, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the dark table surface to form a grip on the object."}, {"label": "subtasks", "start_step": 2092, "end_step": 2107, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully lifted off the black table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the white hexagonal nut through the air toward the purple rod mounted on the wooden block base."}, {"label": "subtasks", "start_step": 2130, "end_step": 2309, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod."}, {"label": "subtasks", "start_step": 2310, "end_step": 2324, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the assembled white hexagonal block, fully separating the hand from the block."}, {"label": "subtasks", "start_step": 2325, "end_step": 2361, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward and to the right, approaching the white hexagonal block placed adjacent to the wooden base."}, {"label": "subtasks", "start_step": 2362, "end_step": 2407, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal block on the table, adjusting contact points to form a stable grip while the block rests on the table surface."}, {"label": "subtasks", "start_step": 2408, "end_step": 2414, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting the block completely off the table surface by the end of the segment."}, {"label": "subtasks", "start_step": 2415, "end_step": 2489, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport_place: Right hand holds the white cylindrical block with a green base, moves it upward and leftward from the right area above the dark table surface to the empty peg of the light wooden block rack, lowers the block to seat it firmly on the peg."}, {"label": "subtasks", "start_step": 2490, "end_step": 2519, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the seated white cylindrical block with a green base on the wooden rack peg without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 2520, "end_step": 2557, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand moves the grasped white cylindrical block downward along the purple rod to rest on the wooden tray, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 2558, "end_step": 2594, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves diagonally down and right toward the white hexagonal block on the dark table surface, staying empty throughout the movement."}, {"label": "subtasks", "start_step": 2595, "end_step": 2661, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the dark table surface, closing fingers and making slight adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 2662, "end_step": 2699, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block completely off the dark table surface, then moves it upward and leftward toward the empty position on the wooden block tray."}, {"label": "subtasks", "start_step": 2700, "end_step": 2737, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the held white cylindrical block with the empty slot on the wooden tray, and lowers it to fit into place with the adjacent stacked blocks."}, {"label": "subtasks", "start_step": 2738, "end_step": 2774, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white cylindrical block steady in its assembled position on the wooden tray without any observable movement."}, {"label": "subtasks", "start_step": 2775, "end_step": 2849, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty diagonally downward toward the green cube resting on the black table surface."}, {"label": "subtasks", "start_step": 2850, "end_step": 2939, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the green cube, closes fingers and makes slight positional adjustments to establish a grip on the cube."}, {"label": "subtasks", "start_step": 2940, "end_step": 2954, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block is fully separated from the dark table surface."}, {"label": "subtasks", "start_step": 2955, "end_step": 2991, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand moves the lifted green block upward and leftward to the position directly above the purple cylindrical post on the white and green block tray."}, {"label": "subtasks", "start_step": 2992, "end_step": 3644, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand makes fine adjustments to the position and orientation of the green block to align its central hole with the purple post, gradually lowering the block to fit onto the post."}, {"label": "subtasks", "start_step": 3645, "end_step": 3659, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand lowers the green block fully onto the supporting white block on the purple post, then opens its fingers to release contact with the green block."}, {"label": "subtasks", "start_step": 3660, "end_step": 3674, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand moves empty in an upward-right direction away from the assembled green block on the tray."}], "episode_index": 14}
+{"source_uid": "1bb3d3145926794b", "num_frames": 2391, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_hand: Left hand moves upward with empty hand from the lower left area of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block near the wooden board, with empty hand."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "a0b748fa-0703-4406-ae18-e3ed2e1ebc63"}, {"label": "valid", "start_step": 0, "end_step": 2358, "id": "JetyHpWRwX093b4BNr8g0"}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block near the wooden board, with empty hand."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the wooden board, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 171, "end_step": 310, "id": "10338559-24d2-4651-b33a-5ee7d74ccc89"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward and rightward to the position above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 202, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand moves the green hexagonal block downward and aligns it with the target purple peg, fitting the block onto the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: place_release: Right hand places the green block onto the base of the left purple peg and releases the block."}, {"label": "goal", "start_step": 311, "end_step": 470, "id": "f3766c55-3894-448c-a9ad-b0b5eb38fe59"}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the middle-left area of the black table."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the middle-left of the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "goal", "start_step": 471, "end_step": 600, "id": "1bbac1da-8308-4b2e-9ab8-e1f5898c70ae"}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the black table surface and moves it toward the purple peg on the green base."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white hexagonal object onto the purple peg and releases its grip."}, {"label": "subtasks", "start_step": 518, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: idle: Right hand remains empty above the assembly board without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the green block on a peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 601, "end_step": 715, "id": "d66fc47b-cb57-4127-af02-0ec3ccdd75b7"}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the left side of the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the black table surface, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "goal", "start_step": 716, "end_step": 880, "id": "19931717-7fc1-4f03-81fc-3a712c3249d0"}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it to the position above the front-left purple peg on the green base."}, {"label": "subtasks", "start_step": 742, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand aligns and fits the white hexagonal part onto the front-left purple peg of the green base, and releases the part with opening fingers."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple peg of the wooden base."}, {"label": "goal", "start_step": 881, "end_step": 980, "id": "d9b0b2ed-1b3b-4cac-8534-7527e5c0e9c2"}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden base with fingers closing around it."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the rightmost purple rod on the wooden base."}, {"label": "goal", "start_step": 981, "end_step": 1120, "id": "7631502d-b6bf-4062-827e-d8183ce1520c"}, {"label": "subtasks", "start_step": 1005, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by aligning the block hole with the rod and lowering the block down."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple rod without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white block on top of the purple rod of the wooden base, with fingers opening and moving upward away from the rod."}, {"label": "goal", "start_step": 1121, "end_step": 1220, "id": "6056a347-8e4e-4a56-add1-b8b2a6b73065"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the left side of the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1221, "end_step": 1330, "id": "1d5a5b11-b711-40bd-a566-d35b9c7aee31"}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: place: Right hand places the white hexagonal block onto the green block on the wooden base."}, {"label": "goal", "start_step": 1331, "end_step": 1455, "id": "5295f6d4-dbd9-4e84-90d8-fcc2f3f5db27"}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white hexagonal block on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the green support block on the table and transports it upward and leftward to the position above the top peg of the wooden base block set."}, {"label": "goal", "start_step": 1456, "end_step": 1585, "id": "130a7abb-9698-4cf8-933f-fe1677eee488"}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand moves the white cylindrical block downward to mate it onto the top peg of the wooden base block set."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white cylindrical block on the top peg of the wooden base block set without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white ring on the purple rod of the wooden base, with fingers opening and moving upward away from the ring."}, {"label": "goal", "start_step": 1586, "end_step": 1675, "id": "9fd3afb6-37ba-4ff5-a71e-c2f077ab7bbf"}, {"label": "subtasks", "start_step": 1605, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves down and right toward the upper white hexagonal part on the black table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal part on the black table surface, with fingers closing around the part."}, {"label": "goal", "start_step": 1676, "end_step": 1845, "id": "cdb97d96-963c-4a06-be7b-ecebab6f1348"}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward away from the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the white hexagonal part leftward and upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1844, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal part with the purple rod and fits the part down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden board before releasing it."}, {"label": "goal", "start_step": 1846, "end_step": 1955, "id": "150dc5a9-0f19-4f70-9057-96f6d4309542"}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1956, "end_step": 2075, "id": "7d3717c4-24e4-4545-ac89-162b50d799aa"}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and transports it toward the wooden tray with stacked blocks."}, {"label": "subtasks", "start_step": 2002, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple vertical rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the purple rod on the top of the rightmost white cylinder on the wooden board, with fingers opening and separating from the rod."}, {"label": "goal", "start_step": 2076, "end_step": 2175, "id": "49b4864f-9312-47dd-abfa-0db451e9b1ee"}, {"label": "subtasks", "start_step": 2092, "end_step": 2121, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves down and right towards the green cube on the dark table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers adjusting their position to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the green block upward from the dark table surface."}, {"label": "goal", "start_step": 2176, "end_step": 2320, "id": "0c2a00af-fa9a-4ddc-bf91-97bc00acf56a"}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the green block leftward and upward toward the purple peg on the white cylinder set on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2271, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the green block onto the purple peg, lowering it to fit the block's hole over the peg until the block rests on the white cylinder below."}, {"label": "subtasks", "start_step": 2272, "end_step": 2324, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green block on top of the white cylinder over the purple peg without moving."}, {"label": "home", "start_step": 2359, "end_step": 2390, "id": "j9R48H2P14ZsrHO_Tb8DF"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_hand: Left hand moves upward with empty hand from the lower left area of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block near the wooden board, with empty hand."}, {"label": "subtasks", "start_step": 30, "end_step": 74, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block near the wooden board, with empty hand."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the wooden board, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward and rightward to the position above the target purple peg on the wooden board."}, {"label": "subtasks", "start_step": 202, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand moves the green hexagonal block downward and aligns it with the target purple peg, fitting the block onto the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: place_release: Right hand places the green block onto the base of the left purple peg and releases the block."}, {"label": "subtasks", "start_step": 330, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the middle-left area of the black table."}, {"label": "subtasks", "start_step": 390, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the middle-left of the black table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 487, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the black table surface and moves it toward the purple peg on the green base."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white hexagonal object onto the purple peg and releases its grip."}, {"label": "subtasks", "start_step": 518, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: idle: Right hand remains empty above the assembly board without moving."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the green block on a peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 630, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the left side of the black table surface."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the black table surface, with fingers closing around the block to form a grip."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}, {"label": "subtasks", "start_step": 720, "end_step": 741, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it to the position above the front-left purple peg on the green base."}, {"label": "subtasks", "start_step": 742, "end_step": 869, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand aligns and fits the white hexagonal part onto the front-left purple peg of the green base, and releases the part with opening fingers."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 967, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden base with fingers closing around it."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 1004, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the rightmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1005, "end_step": 1071, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by aligning the block hole with the rod and lowering the block down."}, {"label": "subtasks", "start_step": 1072, "end_step": 1109, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple rod without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white block on top of the purple rod of the wooden base, with fingers opening and moving upward away from the rod."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the left side of the table."}, {"label": "subtasks", "start_step": 1170, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the left side of the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it toward the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost purple peg and fits it onto the peg."}, {"label": "subtasks", "start_step": 1275, "end_step": 1319, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: place: Right hand places the white hexagonal block onto the green block on the wooden base."}, {"label": "subtasks", "start_step": 1342, "end_step": 1357, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white hexagonal block on the wooden base."}, {"label": "subtasks", "start_step": 1358, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the green support block on the table and transports it upward and leftward to the position above the top peg of the wooden base block set."}, {"label": "subtasks", "start_step": 1485, "end_step": 1537, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand moves the white cylindrical block downward to mate it onto the top peg of the wooden base block set."}, {"label": "subtasks", "start_step": 1538, "end_step": 1574, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white cylindrical block on the top peg of the wooden base block set without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1604, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white ring on the purple rod of the wooden base, with fingers opening and moving upward away from the ring."}, {"label": "subtasks", "start_step": 1605, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves down and right toward the upper white hexagonal part on the black table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 1650, "end_step": 1679, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal part on the black table surface, with fingers closing around the part."}, {"label": "subtasks", "start_step": 1680, "end_step": 1694, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward away from the table surface."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the white hexagonal part leftward and upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1718, "end_step": 1844, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal part with the purple rod and fits the part down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1874, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden board before releasing it."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1971, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and transports it toward the wooden tray with stacked blocks."}, {"label": "subtasks", "start_step": 2002, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple vertical rod on the wooden tray and fits it onto the rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the purple rod on the top of the rightmost white cylinder on the wooden board, with fingers opening and separating from the rod."}, {"label": "subtasks", "start_step": 2092, "end_step": 2121, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves down and right towards the green cube on the dark table surface, with fingers slightly open."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers adjusting their position to form a stable grip."}, {"label": "subtasks", "start_step": 2175, "end_step": 2189, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the green block upward from the dark table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the green block leftward and upward toward the purple peg on the white cylinder set on the wooden base."}, {"label": "subtasks", "start_step": 2220, "end_step": 2271, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the green block onto the purple peg, lowering it to fit the block's hole over the peg until the block rests on the white cylinder below."}, {"label": "subtasks", "start_step": 2272, "end_step": 2324, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green block on top of the white cylinder over the purple peg without moving."}], "episode_index": 15}
+{"source_uid": "7a18b7c7a548c181", "num_frames": 2590, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block near the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "e2c47342-820a-46bd-b965-dfaa8b68b94d"}, {"label": "valid", "start_step": 0, "end_step": 2552, "id": "AY7OLrs5A42gGY0FlMP4o"}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 181, "end_step": 305, "id": "8517debc-37cb-4b39-9c07-32fd4c67b7e7"}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fully seat it on the base."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 306, "end_step": 440, "id": "e5ab084b-b4ee-49f2-9e08-acc3794177dd"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white block placed on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the black tabletop, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white block upward away from the black tabletop."}, {"label": "goal", "start_step": 441, "end_step": 815, "id": "8ab58010-b3bf-49f9-955b-ec50e861d015"}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 816, "end_step": 970, "id": "03019578-56c3-4d4b-a54a-7a13c4975cd2"}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form stable grasp on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black tabletop."}, {"label": "subtasks", "start_step": 960, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the upper part of the purple rod on the wooden base."}, {"label": "goal", "start_step": 971, "end_step": 1135, "id": "9a2cb2af-f8bf-42d8-a78c-1b74ebd2e001"}, {"label": "subtasks", "start_step": 998, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base to the right side."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the table in front of the wooden base."}, {"label": "goal", "start_step": 1136, "end_step": 1235, "id": "fc522057-40d3-4959-b75c-46205beb2d80"}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table, with slight adjustment of hand position to stabilize the grasp."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object from the wooden base plate."}, {"label": "goal", "start_step": 1236, "end_step": 1330, "id": "0975fe67-24f1-4c46-9677-7a0185f2fae6"}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple peg by aligning and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the grip on the ring."}, {"label": "goal", "start_step": 1331, "end_step": 1470, "id": "b992761f-8ba6-4cd0-a191-23deee11edb7"}, {"label": "subtasks", "start_step": 1342, "end_step": 1387, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base towards the green cube on the black table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green cube on the table, fingers close and adjust to form a stable grasp on the cube."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cube from the black table surface."}, {"label": "goal", "start_step": 1471, "end_step": 1560, "id": "1229090c-58de-4f90-b97b-69c882050357"}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cube towards the wooden peg board."}, {"label": "subtasks", "start_step": 1500, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the target peg on the wooden board."}, {"label": "goal", "start_step": 1561, "end_step": 1685, "id": "7aba168a-0d14-4bf0-b51d-228b0725a983"}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white ring placed on the black table."}, {"label": "subtasks", "start_step": 1628, "end_step": 1701, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white ring on the black table surface."}, {"label": "goal", "start_step": 1686, "end_step": 1820, "id": "31c8b080-7dae-45ae-ab7b-7d07522272d7"}, {"label": "subtasks", "start_step": 1702, "end_step": 1731, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1814, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the peg on the wooden base and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed on the table beside the wooden base."}, {"label": "goal", "start_step": 1821, "end_step": 1975, "id": "b30b59a3-9d3b-4216-9fb4-7c38171d7d65"}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white cylindrical block to form a stable grasp, with minor adjustments to the grip."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylinder on the table."}, {"label": "goal", "start_step": 1976, "end_step": 2070, "id": "ae7c0a7f-3e05-46cd-8c97-c6b270d9fd94"}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder fitted on the purple rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the right side of the table."}, {"label": "goal", "start_step": 2071, "end_step": 2160, "id": "cad143c7-f32b-4fdf-a6cf-982398be97f7"}, {"label": "subtasks", "start_step": 2115, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table surface."}, {"label": "goal", "start_step": 2161, "end_step": 2295, "id": "663d2197-77d7-4745-be48-30478369221e"}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the wooden base with stacked cylinders."}, {"label": "subtasks", "start_step": 2212, "end_step": 2287, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_mate: Right hand places the white cylindrical object onto the purple peg on the wooden base and mates it onto the peg."}, {"label": "subtasks", "start_step": 2288, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object and separates from it."}, {"label": "subtasks", "start_step": 2295, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the area near the white cylindrical bottle set toward the green cube on the table."}, {"label": "goal", "start_step": 2296, "end_step": 2395, "id": "88208460-82cf-430d-bd4e-686c78a87ead"}, {"label": "subtasks", "start_step": 2348, "end_step": 2407, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cube on the table and adjusts fingers to form a stable grasp."}, {"label": "goal", "start_step": 2396, "end_step": 2520, "id": "23f87f61-3681-4870-b3fc-03fd71939f75"}, {"label": "subtasks", "start_step": 2408, "end_step": 2437, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up away from the black table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2467, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the green block onto the top of the target white pillar."}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block after it is stably placed on the white pillar."}, {"label": "home", "start_step": 2553, "end_step": 2589, "id": "E9d9GdkNvTlNSX7dbROAw"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block near the wooden base."}, {"label": "subtasks", "start_step": 82, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fully seat it on the base."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white block placed on the black tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the black tabletop, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 412, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white block upward away from the black tabletop."}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 487, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod and releases the block."}, {"label": "subtasks", "start_step": 488, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 712, "end_step": 809, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod and adjusts its position to fit properly."}, {"label": "subtasks", "start_step": 810, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form stable grasp on the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black tabletop."}, {"label": "subtasks", "start_step": 960, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 968, "end_step": 997, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the upper part of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1117, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1118, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base to the right side."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table, with slight adjustment of hand position to stabilize the grasp."}, {"label": "subtasks", "start_step": 1230, "end_step": 1251, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object from the wooden base plate."}, {"label": "subtasks", "start_step": 1252, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple peg by aligning and inserting it onto the peg."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the grip on the ring."}, {"label": "subtasks", "start_step": 1342, "end_step": 1387, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base towards the green cube on the black table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green cube on the table, fingers close and adjust to form a stable grasp on the cube."}, {"label": "subtasks", "start_step": 1470, "end_step": 1484, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cube from the black table surface."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cube towards the wooden peg board."}, {"label": "subtasks", "start_step": 1500, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white ring placed on the black table."}, {"label": "subtasks", "start_step": 1628, "end_step": 1701, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white ring on the black table surface."}, {"label": "subtasks", "start_step": 1702, "end_step": 1731, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the peg on the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1814, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the peg on the wooden base and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 1815, "end_step": 1874, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1875, "end_step": 1964, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white cylindrical block to form a stable grasp, with minor adjustments to the grip."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylinder on the table."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2069, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder fitted on the purple rod."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2211, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the wooden base with stacked cylinders."}, {"label": "subtasks", "start_step": 2212, "end_step": 2287, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_mate: Right hand places the white cylindrical object onto the purple peg on the wooden base and mates it onto the peg."}, {"label": "subtasks", "start_step": 2288, "end_step": 2294, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object and separates from it."}, {"label": "subtasks", "start_step": 2295, "end_step": 2347, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the area near the white cylindrical bottle set toward the green cube on the table."}, {"label": "subtasks", "start_step": 2348, "end_step": 2407, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cube on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2408, "end_step": 2437, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up away from the black table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2467, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar on the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the green block onto the top of the target white pillar."}, {"label": "subtasks", "start_step": 2505, "end_step": 2534, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block after it is stably placed on the white pillar."}], "episode_index": 16}
+{"source_uid": "393f438a182215b6", "num_frames": 3506, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves from its initial right-side position toward the green hexagonal nut located at the front-left of the wooden assembly board, adjusting finger posture slightly during the empty-handed approach, with no contact made to the target nut."}, {"label": "goal", "start_step": 0, "end_step": 230, "id": "1a662552-b474-4f3e-a9a2-adf9a67eeb0a"}, {"label": "valid", "start_step": 0, "end_step": 3470, "id": "jxeXJmvZQyffnUKzoZ-dQ"}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut on the table surface, making small wrist and finger adjustments to establish a stable grip, while the nut remains supported by the table."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the gripped green hexagonal nut steadily on the table surface at the front-left of the wooden assembly board, with no observable movement of the hand, fingers, wrist or the nut."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand moves upward to lift the gripped green hexagonal nut, with the nut still remaining in contact with the table surface at the end of the segment."}, {"label": "goal", "start_step": 231, "end_step": 410, "id": "593a997a-7593-4480-afa5-9b761f33748d"}, {"label": "subtasks", "start_step": 240, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts fingers around the green hexagonal nut on the black table surface to form a stable grip, with the nut remaining on the table."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal nut completely off the table surface and moves it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and lowers the nut to fit it onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 322, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal nut properly seated on the purple peg, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place: Right hand lowers the held green hexagonal block down along the purple peg until it rests on the wooden pegboard base."}, {"label": "goal", "start_step": 411, "end_step": 550, "id": "7be7a825-fbc4-4748-8e9a-2835ff3298ba"}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block seated on the purple peg."}, {"label": "subtasks", "start_step": 442, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward while empty towards the white hexagonal block positioned closest to the pegboard on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the nearby white hexagonal block on the black table surface, adjusting slightly to secure a stable grip."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts its grip around the white hexagonal nut resting on the black table surface, with fingers closed to secure the nut."}, {"label": "goal", "start_step": 551, "end_step": 715, "id": "20f3171a-b051-4dc8-a563-460d60127840"}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to a position directly above the purple peg on the wooden block."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and moves the nut downward to fit onto the peg, with small positional adjustments to maintain alignment."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand positions the white cylindrical sleeve onto the leftmost purple peg above the green block, opening fingers to release the sleeve."}, {"label": "goal", "start_step": 716, "end_step": 860, "id": "2b8c72e3-e593-45d9-ab6a-398a490b4288"}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward to approach the leftmost white hexagonal nut on the black work surface."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward away from the black work surface."}, {"label": "goal", "start_step": 861, "end_step": 1015, "id": "cc52cc4d-1bfa-4b36-9e8e-5741212d294f"}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand holds the lifted white hexagonal block and moves it upward and backward to position it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple peg, lowering the block to fit over the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod of the wooden assembly rack."}, {"label": "goal", "start_step": 1016, "end_step": 1140, "id": "5dbf43bc-d9b1-4d48-8ea0-bebacde0ed58"}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward from the wooden rack area toward the white hexagonal block resting on the table in front of the rack, adjacent to a green hexagonal block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger and wrist positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal block on the black tabletop and lifts the block completely off the table surface."}, {"label": "goal", "start_step": 1141, "end_step": 1290, "id": "79352c23-d123-4528-8f8b-9521e051961d"}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the grasped white hexagonal block upward to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers the block to fit onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1192, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: press: Right hand moves vertically downward along the purple peg to press the white hexagonal block, applying downward pressure until the block rests on the wooden base surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple peg to rest on the wooden base and releases contact with the block."}, {"label": "goal", "start_step": 1291, "end_step": 1385, "id": "b63adefc-1495-4274-b749-c6f68914266e"}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions and closes around the green hexagonal block on the table to establish a secure grip."}, {"label": "goal", "start_step": 1386, "end_step": 1575, "id": "3ba387cb-0494-431f-9bb3-828b353eaee4"}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, fully separating the block from the dark table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand transports the lifted green hexagonal block upward and backward toward the purple vertical rod on the wooden base, positioning the block directly above the rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1574, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, moves the block downward along the rod, and makes slight positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward from near the central block assembly toward the frontmost white hexagonal nut resting on the dark table surface, approaching the nut without making contact."}, {"label": "goal", "start_step": 1576, "end_step": 1695, "id": "d111f9b1-3768-4d61-af12-56a9fed0c1dc"}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the frontmost white hexagonal nut on the dark table surface, adjusting finger positions to form a stable grip on the nut while the nut remains on the table."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the frontmost white hexagonal nut steadily on the dark table surface, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand grips the white hexagonal block resting on the dark table surface and lifts it upward until the block is fully separated from the table."}, {"label": "goal", "start_step": 1696, "end_step": 1865, "id": "bd472a3f-fcb4-4e29-9c91-a0f60737ef36"}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the position directly above the purple vertical rod on the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1748, "end_step": 1851, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod, lowers the block to fit onto the rod, and makes small positional adjustments to properly seat the block on the assembly."}, {"label": "subtasks", "start_step": 1852, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the properly seated white hexagonal block on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand releases the white-and-green cylinder on the wooden base, fingers opening as they move away from the stabilized cylinder."}, {"label": "goal", "start_step": 1866, "end_step": 1970, "id": "52e88c4b-f122-410b-9ad3-307caa15b64b"}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves toward the upper white hexagonal nut on the right side of the table, staying empty while approaching the target object."}, {"label": "subtasks", "start_step": 1942, "end_step": 2047, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand contacts the upper white hexagonal nut, fingers closing around the nut with small wrist adjustments to form a grip."}, {"label": "goal", "start_step": 1971, "end_step": 2145, "id": "2582af3c-1608-4b1a-a096-2d014f47b6b4"}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, transports it upward and leftward to the position directly above the target stack on the wooden block holder."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand moves the grasped white hexagonal block downward, aligns it with the target post on the block stack, mates it to the top of the existing stack until the block is stably supported by the stack."}, {"label": "subtasks", "start_step": 2138, "end_step": 2144, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers to release the grasped white hexagonal block, separating the hand from the block placed on the stack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward from the area near the stacked column toward the white hexagonal nut placed on the black table surface."}, {"label": "goal", "start_step": 2146, "end_step": 2235, "id": "d8c21585-9264-466f-a584-02fb2479d434"}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to the grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand holds the white cylindrical object with closed fingers and lifts it upward off the black table surface."}, {"label": "goal", "start_step": 2236, "end_step": 2400, "id": "e7152521-4867-48ab-803e-6944a981d938"}, {"label": "subtasks", "start_step": 2258, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the grasped white cylindrical object upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2302, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod on the wooden rack and makes slight positional adjustments to fit the object onto the rod."}, {"label": "subtasks", "start_step": 2400, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand holds the white cylindrical block with green band, moves it downward to align and place it onto the purple rod on the wooden block base, opens fingers to release the stably supported block."}, {"label": "goal", "start_step": 2401, "end_step": 2565, "id": "7bfc0c04-f00c-4484-899e-7df4b5ef853f"}, {"label": "subtasks", "start_step": 2460, "end_step": 2519, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green hollow square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2564, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hollow square block on the dark table surface, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand holds the green block on the dark table surface and lifts it upward."}, {"label": "goal", "start_step": 2566, "end_step": 3355, "id": "c4b4175a-c967-488e-b78f-38d35fa2ffbf"}, {"label": "subtasks", "start_step": 2580, "end_step": 2609, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted green block upward and toward the empty slot on the white block rack."}, {"label": "subtasks", "start_step": 2610, "end_step": 2991, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand adjusts the green block's position and orientation slightly to align it with the empty slot on the block rack."}, {"label": "subtasks", "start_step": 2992, "end_step": 3044, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the green block downward and away from the block rack back toward the dark table surface."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand lowers the green block onto the dark table surface and opens fingers to release the block."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: retreat: Right hand moves slightly away from the released green block on the table with an empty hand."}, {"label": "subtasks", "start_step": 3075, "end_step": 3194, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions to close around and firmly grasp the green block on the dark table surface."}, {"label": "subtasks", "start_step": 3195, "end_step": 3224, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand holds the grasped green block and lifts it upward off the dark table surface."}, {"label": "subtasks", "start_step": 3225, "end_step": 3247, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted green block upward and back toward the empty slot on the white block rack."}, {"label": "subtasks", "start_step": 3248, "end_step": 3359, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand adjusts the green block's position and orientation slightly to align it with the empty slot on the block rack."}, {"label": "home", "start_step": 3471, "end_step": 3505, "id": "q0hWs5tBTq5dGtbUaswak"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 104, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves from its initial right-side position toward the green hexagonal nut located at the front-left of the wooden assembly board, adjusting finger posture slightly during the empty-handed approach, with no contact made to the target nut."}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut on the table surface, making small wrist and finger adjustments to establish a stable grip, while the nut remains supported by the table."}, {"label": "subtasks", "start_step": 188, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the gripped green hexagonal nut steadily on the table surface at the front-left of the wooden assembly board, with no observable movement of the hand, fingers, wrist or the nut."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand moves upward to lift the gripped green hexagonal nut, with the nut still remaining in contact with the table surface at the end of the segment."}, {"label": "subtasks", "start_step": 240, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts fingers around the green hexagonal nut on the black table surface to form a stable grip, with the nut remaining on the table."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal nut completely off the table surface and moves it directly above the target purple peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and lowers the nut to fit it onto the peg with small positional adjustments."}, {"label": "subtasks", "start_step": 322, "end_step": 404, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal nut properly seated on the purple peg, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place: Right hand lowers the held green hexagonal block down along the purple peg until it rests on the wooden pegboard base."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block seated on the purple peg."}, {"label": "subtasks", "start_step": 442, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward while empty towards the white hexagonal block positioned closest to the pegboard on the black table surface."}, {"label": "subtasks", "start_step": 495, "end_step": 517, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the nearby white hexagonal block on the black table surface, adjusting slightly to secure a stable grip."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without any observable movement of the hand, fingers or block."}, {"label": "subtasks", "start_step": 540, "end_step": 554, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts its grip around the white hexagonal nut resting on the black table surface, with fingers closed to secure the nut."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to a position directly above the purple peg on the wooden block."}, {"label": "subtasks", "start_step": 592, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and moves the nut downward to fit onto the peg, with small positional adjustments to maintain alignment."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand positions the white cylindrical sleeve onto the leftmost purple peg above the green block, opening fingers to release the sleeve."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward to approach the leftmost white hexagonal nut on the black work surface."}, {"label": "subtasks", "start_step": 788, "end_step": 831, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal nut on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward away from the black work surface."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand holds the lifted white hexagonal block and moves it upward and backward to position it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 1004, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple peg, lowering the block to fit over the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod of the wooden assembly rack."}, {"label": "subtasks", "start_step": 1028, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward from the wooden rack area toward the white hexagonal block resting on the table in front of the rack, adjacent to a green hexagonal block."}, {"label": "subtasks", "start_step": 1072, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger and wrist positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal block on the black tabletop and lifts the block completely off the table surface."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the grasped white hexagonal block upward to position it directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1170, "end_step": 1191, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers the block to fit onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1192, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1268, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: press: Right hand moves vertically downward along the purple peg to press the white hexagonal block, applying downward pressure until the block rests on the wooden base surface."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple peg to rest on the wooden base and releases contact with the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 1342, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions and closes around the green hexagonal block on the table to establish a secure grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, fully separating the block from the dark table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand transports the lifted green hexagonal block upward and backward toward the purple vertical rod on the wooden base, positioning the block directly above the rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1574, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, moves the block downward along the rod, and makes slight positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward from near the central block assembly toward the frontmost white hexagonal nut resting on the dark table surface, approaching the nut without making contact."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the frontmost white hexagonal nut on the dark table surface, adjusting finger positions to form a stable grip on the nut while the nut remains on the table."}, {"label": "subtasks", "start_step": 1672, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the frontmost white hexagonal nut steadily on the dark table surface, with no observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 1695, "end_step": 1717, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand grips the white hexagonal block resting on the dark table surface and lifts it upward until the block is fully separated from the table."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the position directly above the purple vertical rod on the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1748, "end_step": 1851, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod, lowers the block to fit onto the rod, and makes small positional adjustments to properly seat the block on the assembly."}, {"label": "subtasks", "start_step": 1852, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the properly seated white hexagonal block on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 1860, "end_step": 1897, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand releases the white-and-green cylinder on the wooden base, fingers opening as they move away from the stabilized cylinder."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves toward the upper white hexagonal nut on the right side of the table, staying empty while approaching the target object."}, {"label": "subtasks", "start_step": 1942, "end_step": 2047, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand contacts the upper white hexagonal nut, fingers closing around the nut with small wrist adjustments to form a grip."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, transports it upward and leftward to the position directly above the target stack on the wooden block holder."}, {"label": "subtasks", "start_step": 2085, "end_step": 2137, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand moves the grasped white hexagonal block downward, aligns it with the target post on the block stack, mates it to the top of the existing stack until the block is stably supported by the stack."}, {"label": "subtasks", "start_step": 2138, "end_step": 2144, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers to release the grasped white hexagonal block, separating the hand from the block placed on the stack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2189, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward from the area near the stacked column toward the white hexagonal nut placed on the black table surface."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to the grip while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand holds the white cylindrical object with closed fingers and lifts it upward off the black table surface."}, {"label": "subtasks", "start_step": 2258, "end_step": 2301, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the grasped white cylindrical object upward and leftward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2302, "end_step": 2399, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod on the wooden rack and makes slight positional adjustments to fit the object onto the rod."}, {"label": "subtasks", "start_step": 2400, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand holds the white cylindrical block with green band, moves it downward to align and place it onto the purple rod on the wooden block base, opens fingers to release the stably supported block."}, {"label": "subtasks", "start_step": 2460, "end_step": 2519, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green hollow square block resting on the dark table surface."}, {"label": "subtasks", "start_step": 2520, "end_step": 2564, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hollow square block on the dark table surface, adjusting finger positions to form a stable grasp."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand holds the green block on the dark table surface and lifts it upward."}, {"label": "subtasks", "start_step": 2580, "end_step": 2609, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted green block upward and toward the empty slot on the white block rack."}, {"label": "subtasks", "start_step": 2610, "end_step": 2991, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand adjusts the green block's position and orientation slightly to align it with the empty slot on the block rack."}, {"label": "subtasks", "start_step": 2992, "end_step": 3044, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the green block downward and away from the block rack back toward the dark table surface."}, {"label": "subtasks", "start_step": 3045, "end_step": 3059, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand lowers the green block onto the dark table surface and opens fingers to release the block."}, {"label": "subtasks", "start_step": 3060, "end_step": 3074, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: retreat: Right hand moves slightly away from the released green block on the table with an empty hand."}, {"label": "subtasks", "start_step": 3075, "end_step": 3194, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions to close around and firmly grasp the green block on the dark table surface."}, {"label": "subtasks", "start_step": 3195, "end_step": 3224, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand holds the grasped green block and lifts it upward off the dark table surface."}, {"label": "subtasks", "start_step": 3225, "end_step": 3247, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted green block upward and back toward the empty slot on the white block rack."}, {"label": "subtasks", "start_step": 3248, "end_step": 3359, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand adjusts the green block's position and orientation slightly to align it with the empty slot on the block rack."}], "episode_index": 17}
+{"source_uid": "87953abddc1a543b", "num_frames": 2840, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the home position at the left upper side of the worktable. | Right hand: reach: Right hand moves upward then leftward and downward to approach the left green hexagonal block on the table, with no contact established."}, {"label": "goal", "start_step": 0, "end_step": 250, "id": "871c05dd-1b86-45dc-8a47-70d231a347d7"}, {"label": "valid", "start_step": 0, "end_step": 2809, "id": "y1P3EM2OKm36oujLEJlvV"}, {"label": "subtasks", "start_step": 30, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves upward then leftward and downward to approach the left green hexagonal block on the table, with no contact established."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left green hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift: Right hand lifts the left green hexagonal block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand carries the green hexagonal block upward toward the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand adjusts its grip to grasp the green block on the dark table surface."}, {"label": "goal", "start_step": 251, "end_step": 370, "id": "bfaffcac-cbfe-472e-b639-d06d64981cc6"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts and transports the green block from the table to the position above the purple pegs on the wooden board."}, {"label": "subtasks", "start_step": 285, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green block onto the purple peg by aligning and lowering it onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the green block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: place_release: Right hand places the green cubic block onto the wooden base of the leftmost purple peg, releasing it upon contact with the base."}, {"label": "goal", "start_step": 371, "end_step": 515, "id": "5110929f-79fe-4012-9861-5846878f494d"}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the upper left part of the table surface, moving downward from the peg area."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table next to the green cube, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 516, "end_step": 670, "id": "5ceec291-fcfa-4e4d-ad18-89465221a794"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it upward to the position above the leftmost purple peg of the peg set."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the white hexagonal part by opening its fingers to separate from the part."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the white hex block onto the leftmost vertical peg of the wooden base."}, {"label": "goal", "start_step": 671, "end_step": 795, "id": "d7b1f07d-1e5b-4063-80c5-ca02d91cbdfc"}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the left white hex block on the dark table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hex block on the dark table surface, adjusting the grip."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the left white hex block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the green base of the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 796, "end_step": 960, "id": "a6f578a8-4472-4f29-aa5a-5dcd0eea0371"}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the green base and transports it toward the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod of the test tube rack and fits it down onto the rod until it touches the green base below."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers and separates from the block."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward from the upper peg group area toward the white cube on the table in front of the wooden base, with no contact with the cube."}, {"label": "goal", "start_step": 961, "end_step": 1140, "id": "30a14bc8-a542-4d5a-a50f-61d85632469e"}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cube on the table in front of the wooden base, with slight finger adjustments for stable grip."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white cube off the table and transports it to the position above the middle purple peg, adjusting the cube's orientation to align its hole with the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand moves the white cube downward to fit it onto the middle purple peg, completing the nesting assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the front peg of the wooden rack and carries it to the position above the right purple peg."}, {"label": "goal", "start_step": 1141, "end_step": 1225, "id": "41781e43-0339-4f1b-85cd-d2d97a93a2f7"}, {"label": "subtasks", "start_step": 1170, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate_release: Right hand lowers the white cubic block onto the right purple peg to fit it in place and releases its grip on the block."}, {"label": "goal", "start_step": 1226, "end_step": 1340, "id": "0115d97c-0ef0-42d8-b670-b69ea130d6ce"}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1341, "end_step": 1480, "id": "d551d38f-7888-43fa-aa28-8031346a4936"}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it upward to the top of the middle peg."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green cubic block onto the middle peg by lowering it to fit the peg through the block's hole."}, {"label": "subtasks", "start_step": 1432, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the middle peg without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple vertical post, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1481, "end_step": 1650, "id": "d0406ebd-f4b0-43e3-894c-31f6b98baa69"}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and moves it upward toward the post assembly area."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand transports the white perforated cubic block upward and leftward from the tabletop area to the position above the target peg on the wooden pegboard."}, {"label": "goal", "start_step": 1651, "end_step": 1750, "id": "7fd25e46-a5a9-472c-a806-d480e7780228"}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the white perforated cubic block with the target peg by lowering the block to fit the peg through its central hole."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate_release: Right hand mates the white block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1751, "end_step": 1845, "id": "643bae40-3766-4ec8-8d2c-166f94eb8adc"}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white cubic block on the table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white cubic block on the table surface with fingers closing and adjusting for stable grip."}, {"label": "goal", "start_step": 1846, "end_step": 1965, "id": "704480eb-3998-495f-968b-28ebb8e21126"}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts and transports the white hollow block from the table to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand opens its fingers to release the white hollow block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1958, "end_step": 1964, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: retreat: Right hand moves upward away from the white block on the purple rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "goal", "start_step": 1966, "end_step": 2060, "id": "65f21dc2-4ca8-41fc-82ab-f2cfa457ec03"}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift: Right hand lifts the white square block upward from the dark table surface."}, {"label": "goal", "start_step": 2061, "end_step": 2175, "id": "08982c81-95a4-4fab-8179-aef0b3382cce"}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand transports the white square block leftward and upward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the inner hole of the white square block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: place: Right hand lowers the white square block along the purple rod and places it on the supporting block at the bottom of the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release_retreat: Right hand opens its fingers to release the white square block, then moves slightly rightward away from the block."}, {"label": "subtasks", "start_step": 2175, "end_step": 2227, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward from the position near the bottle rack toward the green cube on the dark table surface."}, {"label": "goal", "start_step": 2176, "end_step": 2290, "id": "5e4ccdad-cfbb-47d5-a392-971bebe7d5ed"}, {"label": "subtasks", "start_step": 2228, "end_step": 2279, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift: Right hand lifts the green square block from the dark table surface."}, {"label": "goal", "start_step": 2291, "end_step": 2770, "id": "9e6653e5-3c4f-44e1-96b6-31b793ce09fa"}, {"label": "subtasks", "start_step": 2302, "end_step": 2331, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand transports the green square block upward and leftward to the top of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2332, "end_step": 2511, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green square block onto the target peg, adjusting position to align the block's hole with the peg."}, {"label": "subtasks", "start_step": 2512, "end_step": 2534, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the green square block, fingers opening to separate from the block which falls onto the table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand reaches downward toward the green square block on the dark table surface next to the wooden rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2654, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the green square block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2655, "end_step": 2677, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift: Right hand lifts the green square block from the dark table surface."}, {"label": "subtasks", "start_step": 2678, "end_step": 2707, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand transports the green square block upward and leftward to the top of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2708, "end_step": 2774, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green square block onto the target peg, lowering it to fit securely on the peg."}, {"label": "home", "start_step": 2810, "end_step": 2839, "id": "lgrXdQhbRRHshg2ODuX6B"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward to the home position at the left upper side of the worktable. | Right hand: reach: Right hand moves upward then leftward and downward to approach the left green hexagonal block on the table, with no contact established."}, {"label": "subtasks", "start_step": 30, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves upward then leftward and downward to approach the left green hexagonal block on the table, with no contact established."}, {"label": "subtasks", "start_step": 135, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left green hexagonal block on the table, with slight adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 172, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift: Right hand lifts the left green hexagonal block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 195, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand carries the green hexagonal block upward toward the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple rod and inserts it partially onto the rod."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand adjusts its grip to grasp the green block on the dark table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts and transports the green block from the table to the position above the purple pegs on the wooden board."}, {"label": "subtasks", "start_step": 285, "end_step": 337, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green block onto the purple peg by aligning and lowering it onto the peg of the wooden base."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the green block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: place_release: Right hand places the green cubic block onto the wooden base of the leftmost purple peg, releasing it upon contact with the base."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the upper left part of the table surface, moving downward from the peg area."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 458, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 547, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table next to the green cube, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it upward to the position above the leftmost purple peg of the peg set."}, {"label": "subtasks", "start_step": 570, "end_step": 629, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 659, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the white hexagonal part by opening its fingers to separate from the part."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the white hex block onto the leftmost vertical peg of the wooden base."}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the left white hex block on the dark table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hex block on the dark table surface, adjusting the grip."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the left white hex block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the green base of the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the green base and transports it toward the leftmost purple rod of the test tube rack."}, {"label": "subtasks", "start_step": 862, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod of the test tube rack and fits it down onto the rod until it touches the green base below."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers and separates from the block."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward from the upper peg group area toward the white cube on the table in front of the wooden base, with no contact with the cube."}, {"label": "subtasks", "start_step": 998, "end_step": 1027, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cube on the table in front of the wooden base, with slight finger adjustments for stable grip."}, {"label": "subtasks", "start_step": 1028, "end_step": 1124, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white cube off the table and transports it to the position above the middle purple peg, adjusting the cube's orientation to align its hole with the peg."}, {"label": "subtasks", "start_step": 1125, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand moves the white cube downward to fit it onto the middle purple peg, completing the nesting assembly."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the front peg of the wooden rack and carries it to the position above the right purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1251, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate_release: Right hand lowers the white cubic block onto the right purple peg to fit it in place and releases its grip on the block."}, {"label": "subtasks", "start_step": 1252, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 1335, "end_step": 1364, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it upward to the top of the middle peg."}, {"label": "subtasks", "start_step": 1388, "end_step": 1431, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green cubic block onto the middle peg by lowering it to fit the peg through the block's hole."}, {"label": "subtasks", "start_step": 1432, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the middle peg without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple vertical post, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1537, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1560, "end_step": 1634, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1635, "end_step": 1649, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and moves it upward toward the post assembly area."}, {"label": "subtasks", "start_step": 1650, "end_step": 1671, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand transports the white perforated cubic block upward and leftward from the tabletop area to the position above the target peg on the wooden pegboard."}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the white perforated cubic block with the target peg by lowering the block to fit the peg through its central hole."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate_release: Right hand mates the white block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white cubic block on the table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white cubic block on the table surface with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 1868, "end_step": 1889, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts and transports the white hollow block from the table to the position directly above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand opens its fingers to release the white hollow block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1958, "end_step": 1964, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: retreat: Right hand moves upward away from the white block on the purple rod."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift: Right hand lifts the white square block upward from the dark table surface."}, {"label": "subtasks", "start_step": 2070, "end_step": 2107, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand transports the white square block leftward and upward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2108, "end_step": 2129, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the inner hole of the white square block with the purple rod and inserts the block onto the rod."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: place: Right hand lowers the white square block along the purple rod and places it on the supporting block at the bottom of the rod."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release_retreat: Right hand opens its fingers to release the white square block, then moves slightly rightward away from the block."}, {"label": "subtasks", "start_step": 2175, "end_step": 2227, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward from the position near the bottle rack toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2228, "end_step": 2279, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2280, "end_step": 2301, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift: Right hand lifts the green square block from the dark table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2331, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand transports the green square block upward and leftward to the top of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2332, "end_step": 2511, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green square block onto the target peg, adjusting position to align the block's hole with the peg."}, {"label": "subtasks", "start_step": 2512, "end_step": 2534, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the green square block, fingers opening to separate from the block which falls onto the table."}, {"label": "subtasks", "start_step": 2535, "end_step": 2594, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand reaches downward toward the green square block on the dark table surface next to the wooden rack."}, {"label": "subtasks", "start_step": 2595, "end_step": 2654, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the green square block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2655, "end_step": 2677, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift: Right hand lifts the green square block from the dark table surface."}, {"label": "subtasks", "start_step": 2678, "end_step": 2707, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand transports the green square block upward and leftward to the top of the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 2708, "end_step": 2774, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green square block onto the target peg, lowering it to fit securely on the peg."}], "episode_index": 18}
+{"source_uid": "eeff520643bbae64", "num_frames": 2738, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block at the front left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 170, "id": "8b414def-0e77-4037-8245-0066fe4a108b"}, {"label": "valid", "start_step": 0, "end_step": 2707, "id": "zYRoT8MfINAEmYl1xmC2j"}, {"label": "subtasks", "start_step": 68, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers and closes to grasp the green block on the black table."}, {"label": "goal", "start_step": 171, "end_step": 320, "id": "fd89c846-d20b-4d39-a010-7d5f53ea7abc"}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward until it is completely off the black table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the gripped green block to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block onto the purple rod fixed on the wooden base."}, {"label": "goal", "start_step": 321, "end_step": 430, "id": "9f56ac8d-2ce5-497e-b4e6-f4e202b828e7"}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 431, "end_step": 565, "id": "edccf16e-6b0c-42f1-bee0-661052f5faae"}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rods on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the leftmost purple rod and presses it down to secure."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden 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moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the tabletop and transports it towards the wooden base with purple rods."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 788, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal part down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 846, "end_step": 990, "id": "af3a0cd6-f0f6-4815-b937-0b2c1c28886b"}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "goal", "start_step": 991, "end_step": 1115, "id": "3898ca16-3b3e-4a08-88a6-7d441cf46590"}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the purple rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1116, "end_step": 1225, "id": "7f605059-f17f-488d-84ce-4d41944e382b"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp and adjust grip on the green hexagonal block on the table surface."}, {"label": "goal", "start_step": 1226, "end_step": 1375, "id": "3c4a5b86-734b-4309-a7c0-9dbf1c2ab7de"}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upwards away from the table surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green cubic block towards the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1376, "end_step": 1500, "id": "ff56082c-6bda-47d1-9331-b7238f5db3b7"}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hex ring on the table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hex ring on the table surface."}, {"label": "goal", "start_step": 1501, "end_step": 1685, "id": "8c09ea25-7f95-46b5-8403-56ea5e29593d"}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object off the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white cylindrical object towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1568, "end_step": 1641, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the peg on the green block of the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the aligned peg of the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the green block on the wooden base."}, {"label": "goal", "start_step": 1686, "end_step": 1835, "id": "845b0575-1ce9-418e-ac75-19c43669c18d"}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block placed on the table."}, {"label": "subtasks", "start_step": 1792, "end_step": 1851, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "goal", "start_step": 1836, "end_step": 1965, "id": "1fb08eff-a222-4dae-8aba-c267c8fe0c90"}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block up away from the black tabletop."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white cylindrical block to the position right above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cylindrical block onto the purple vertical rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2031, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1966, "end_step": 2090, "id": "ecd18f64-3810-4ab5-a0b6-5d93117c1e92"}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "goal", "start_step": 2091, "end_step": 2220, "id": "a8a86535-7045-43b3-a82e-63c47c047c9e"}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2204, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple rod on the wooden base until it is supported by the rod."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base, then releases the block."}, {"label": "goal", "start_step": 2221, "end_step": 2355, "id": "0ecf1072-9bad-400f-b2d1-2d7523189cb0"}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green block on the table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2331, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2332, "end_step": 2377, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the table surface."}, {"label": "goal", "start_step": 2356, "end_step": 2680, "id": "a50d4781-2587-4daf-a01c-fc982474bbe7"}, {"label": "subtasks", "start_step": 2378, "end_step": 2407, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to above the rightmost white post on the wooden rack."}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the inner hole of the green block with the rightmost white post and fits the block onto the post."}, {"label": "subtasks", "start_step": 2445, "end_step": 2669, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the rightmost white post to secure it in place."}, {"label": "subtasks", "start_step": 2670, "end_step": 2684, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block on the white post."}, {"label": "home", "start_step": 2708, "end_step": 2737, "id": "U0ozsKssnvek2Fw8v-Lvz"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block at the front left of the wooden base."}, {"label": "subtasks", "start_step": 68, "end_step": 179, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers and closes to grasp the green block on the black table."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward until it is completely off the black table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the gripped green block to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and presses it down onto the peg."}, {"label": "subtasks", "start_step": 248, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block onto the purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 390, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 442, "end_step": 471, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rods on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the leftmost purple rod and presses it down to secure."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the left white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the left white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 712, "end_step": 741, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the tabletop and transports it towards the wooden base with purple rods."}, {"label": "subtasks", "start_step": 742, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 788, "end_step": 839, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal part down along the purple rod to secure it in place."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the purple rod by inserting it down onto the rod."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white block fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1244, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp and adjust grip on the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1259, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upwards away from the table surface."}, {"label": "subtasks", "start_step": 1260, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green cubic block towards the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1364, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod and inserts it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1365, "end_step": 1409, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hex ring on the table surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hex ring on the table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1537, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object off the black table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white cylindrical object towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1568, "end_step": 1641, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the peg on the green block of the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1679, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the aligned peg of the wooden base."}, {"label": "subtasks", "start_step": 1680, "end_step": 1747, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the green block on the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block placed on the table."}, {"label": "subtasks", "start_step": 1792, "end_step": 1851, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block up away from the black tabletop."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white cylindrical block to the position right above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cylindrical block onto the purple vertical rod until it rests on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2031, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2032, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "subtasks", "start_step": 2108, "end_step": 2137, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2204, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple rod on the wooden base until it is supported by the rod."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base, then releases the block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2287, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green block on the table surface."}, {"label": "subtasks", "start_step": 2288, "end_step": 2331, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2332, "end_step": 2377, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2407, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to above the rightmost white post on the wooden rack."}, {"label": "subtasks", "start_step": 2408, "end_step": 2444, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the inner hole of the green block with the rightmost white post and fits the block onto the post."}, {"label": "subtasks", "start_step": 2445, "end_step": 2669, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the rightmost white post to secure it in place."}, {"label": "subtasks", "start_step": 2670, "end_step": 2684, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block on the white post."}], "episode_index": 19}
+{"source_uid": "7a0775f1e8505cde", "num_frames": 3063, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves from its initial upper-right position toward the green hexagonal nut located at the front-left of the wooden peg rack, with fingers extended and open."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "a0448a5d-f7b1-4620-a608-049721df791a"}, {"label": "valid", "start_step": 0, "end_step": 3032, "id": "5vOontnSAILRpkZb7Zyhr"}, {"label": "subtasks", "start_step": 112, "end_step": 217, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal nut, making slight adjustments to finger positions to form a grasp, while the nut remains resting on the table surface."}, {"label": "goal", "start_step": 201, "end_step": 325, "id": "6a3e476a-8620-44a0-ade2-031d1d61f35b"}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, moving it upward to position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple post, adjusts its position, and fits the block onto the post for nesting assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod on the wooden base and releases its grip on the block."}, {"label": "goal", "start_step": 326, "end_step": 435, "id": "0bba3a7a-9aad-49bb-bd5a-ef6b8b69ddc4"}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward with empty hand to approach the white hexagonal block on the front left of the table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the front left white hexagonal block on the table and adjusts its grip to establish stable hold."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the front left white hexagonal block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand approaches the white hexagonal nut on the black table surface and closes fingers to form a stable grip around the nut, which remains supported by the table."}, {"label": "goal", "start_step": 436, "end_step": 625, "id": "6db39ff4-bd39-477a-a2ab-aed75f942c1c"}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut upward to fully separate it from the table surface, moving the nut through air to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 488, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit it onto the peg with slight positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple peg, with no observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds the white cylindrical sleeve, moves it downward to seat it onto the green block on the purple support rod, fingers opening to release the sleeve once it is supported by the block."}, {"label": "goal", "start_step": 626, "end_step": 775, "id": "60d2d79d-a2f5-4939-bfff-8c36da13b268"}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward toward the leftmost white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand positions fingers around the leftmost white hexagonal nut, adjusting finger contact positions and closing fingers to form a grip on the nut."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the dark table surface and carries the block to the position directly above the purple post on the wooden assembly base."}, {"label": "goal", "start_step": 776, "end_step": 1000, "id": "4096a83a-122b-44d6-840a-bde8a580c8a7"}, {"label": "subtasks", "start_step": 802, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand makes slight positional and angular adjustments to align the central hole of the white hexagonal block with the purple post, fitting the block onto the post."}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand is empty, moves downward from the upper area of the wooden assembly stand to approach the nearest white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 1001, "end_step": 1115, "id": "8d0da52e-aeea-45ae-8c72-2c21cca994e1"}, {"label": "subtasks", "start_step": 1050, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block, fingers close and perform slight positional adjustments to form a stable grasp on the block."}, {"label": "goal", "start_step": 1116, "end_step": 1245, "id": "c5232230-b36a-4619-84f4-f89f58ddea78"}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward and horizontally to a position directly above the empty purple peg on the wooden assembly."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_mate: Right hand lowers the white hexagonal cylinder onto the purple peg, aligning the cylinder's central hole with the peg to seat it on the wooden assembly."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal cylinder stably seated on the purple peg of the wooden assembly with no observable movement."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block above the purple rod on the wooden peg base."}, {"label": "goal", "start_step": 1246, "end_step": 1370, "id": "634db5df-8243-4d72-ae81-051ff8fed3cb"}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes and adjusts fingers around the green hexagonal block on the table to form a stable grip, with the block remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1371, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward slightly off the table surface."}, {"label": "goal", "start_step": 1371, "end_step": 1475, "id": "e83447e3-655b-4ef8-8f0d-d572111cb69b"}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand grasps the green hexagonal block on the dark table surface, lifting it completely off the table and moving it upward to position the block directly above the target purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowering the block to fit it onto the peg to form an assembly with the rack."}, {"label": "subtasks", "start_step": 1448, "end_step": 1507, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the assembled green block on the purple peg without any visible movement of the hand, fingers, or block."}, {"label": "goal", "start_step": 1476, "end_step": 1620, "id": "72ba5aef-0683-4c5b-b158-cb540439218d"}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release_reach: Right hand opens fingers to release the white cylindrical block on the purple rod, moving downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1597, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand grips the white hexagonal nut and moves it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "goal", "start_step": 1621, "end_step": 1820, "id": "bfa06fde-4c18-4af9-b27a-9df77282a53c"}, {"label": "subtasks", "start_step": 1658, "end_step": 1814, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod, making small positional adjustments to align the parts properly."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the top of the purple rod on the wooden base, opening fingers to release the block once it is supported by the rod."}, {"label": "goal", "start_step": 1821, "end_step": 1940, "id": "4557d7fc-d8ae-42e8-9dbd-e4eac754a3df"}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves rightward and downward toward the white hexagonal nut resting on the table near the wooden base, with no contact to the target nut."}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes small finger adjustments to close around the white hexagonal nut on the table, working to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward off the dark table surface."}, {"label": "goal", "start_step": 1941, "end_step": 2090, "id": "148f88b9-341a-4f41-bddf-347658f28c73"}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2084, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to fit over the rod, and opens fingers to release the block onto the rod."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand releases the white hexagonal block mounted on the purple rod of the wooden block stand, fingers opening to break contact with the block."}, {"label": "goal", "start_step": 2091, "end_step": 2180, "id": "0ae7c54a-0061-42a9-9a73-187a7fe3526d"}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and rightward through empty space toward the loose white hexagonal nut resting on the dark work surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2189, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand contacts the loose white hexagonal nut on the dark work surface, closing and adjusting finger positions to establish a grip on the nut."}, {"label": "goal", "start_step": 2181, "end_step": 2305, "id": "181f7191-8dc8-4df7-9f28-efd25fd924fc"}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table surface and moves it upward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2228, "end_step": 2294, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and lowers the block to nest it onto the rod for assembly."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block positioned on the purple peg of the wooden assembly stand."}, {"label": "goal", "start_step": 2306, "end_step": 2415, "id": "b5fc431f-1f41-4188-b1c4-3c4364782d79"}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward across the dark work surface toward the green hollow cube, making no contact with the cube during this movement."}, {"label": "subtasks", "start_step": 2355, "end_step": 2407, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hollow cube resting on the dark work surface, making small finger position adjustments to form a stable grip while the cube remains on the work surface."}, {"label": "subtasks", "start_step": 2408, "end_step": 2414, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves upward with the grasped green hollow cube, lifting the cube completely away from the dark work surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2474, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the grasped green block upward and leftward toward the purple post on the wooden block rack."}, {"label": "goal", "start_step": 2416, "end_step": 2990, "id": "5bc66b8a-7db6-4a6b-909a-8a34f3729aca"}, {"label": "subtasks", "start_step": 2475, "end_step": 2519, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand adjusts the green block to align its hole with the purple post, opens fingers to release the block which falls to the table."}, {"label": "subtasks", "start_step": 2520, "end_step": 2564, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: idle: Right hand remains empty above the block rack without any visible movement."}, {"label": "subtasks", "start_step": 2565, "end_step": 2594, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward empty to approach the green block resting on the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green block on the table to form a grip."}, {"label": "subtasks", "start_step": 2625, "end_step": 2677, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reorient: Right hand rotates the grasped green block about a quarter turn to position it upright on the table."}, {"label": "subtasks", "start_step": 2678, "end_step": 2721, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand moves the upright green block slightly forward to the marked position on the table."}, {"label": "subtasks", "start_step": 2722, "end_step": 2841, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions on the upright green block to stabilize the grip for subsequent lifting."}, {"label": "subtasks", "start_step": 2842, "end_step": 2894, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward and leftward to the position above the purple post."}, {"label": "subtasks", "start_step": 2895, "end_step": 2931, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the purple post below."}, {"label": "subtasks", "start_step": 2932, "end_step": 2999, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place: Right hand lowers the green block onto the purple post until the block is fully supported by the post."}, {"label": "home", "start_step": 3033, "end_step": 3062, "id": "pW16qD1fBInc1__pQSjrT"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves from its initial upper-right position toward the green hexagonal nut located at the front-left of the wooden peg rack, with fingers extended and open."}, {"label": "subtasks", "start_step": 112, "end_step": 217, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal nut, making slight adjustments to finger positions to form a grasp, while the nut remains resting on the table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 254, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, moving it upward to position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple post, adjusts its position, and fits the block onto the post for nesting assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 367, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod on the wooden base and releases its grip on the block."}, {"label": "subtasks", "start_step": 368, "end_step": 381, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward with empty hand to approach the white hexagonal block on the front left of the table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the front left white hexagonal block on the table and adjusts its grip to establish stable hold."}, {"label": "subtasks", "start_step": 420, "end_step": 434, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the front left white hexagonal block on the table surface without any observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand approaches the white hexagonal nut on the black table surface and closes fingers to form a stable grip around the nut, which remains supported by the table."}, {"label": "subtasks", "start_step": 458, "end_step": 487, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut upward to fully separate it from the table surface, moving the nut through air to the position directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 488, "end_step": 554, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit it onto the peg with slight positional adjustments to complete the nesting assembly."}, {"label": "subtasks", "start_step": 555, "end_step": 614, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple peg, with no observable movement of the hand, fingers or the nut."}, {"label": "subtasks", "start_step": 615, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds the white cylindrical sleeve, moves it downward to seat it onto the green block on the purple support rod, fingers opening to release the sleeve once it is supported by the block."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward toward the leftmost white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 690, "end_step": 764, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand positions fingers around the leftmost white hexagonal nut, adjusting finger contact positions and closing fingers to form a grip on the nut."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the dark table surface and carries the block to the position directly above the purple post on the wooden assembly base."}, {"label": "subtasks", "start_step": 802, "end_step": 989, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand makes slight positional and angular adjustments to align the central hole of the white hexagonal block with the purple post, fitting the block onto the post."}, {"label": "subtasks", "start_step": 990, "end_step": 1049, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand is empty, moves downward from the upper area of the wooden assembly stand to approach the nearest white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block, fingers close and perform slight positional adjustments to form a stable grasp on the block."}, {"label": "subtasks", "start_step": 1132, "end_step": 1147, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward and horizontally to a position directly above the empty purple peg on the wooden assembly."}, {"label": "subtasks", "start_step": 1148, "end_step": 1161, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_mate: Right hand lowers the white hexagonal cylinder onto the purple peg, aligning the cylinder's central hole with the peg to seat it on the wooden assembly."}, {"label": "subtasks", "start_step": 1162, "end_step": 1244, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal cylinder stably seated on the purple peg of the wooden assembly with no observable movement."}, {"label": "subtasks", "start_step": 1245, "end_step": 1274, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block above the purple rod on the wooden peg base."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1364, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes and adjusts fingers around the green hexagonal block on the table to form a stable grip, with the block remaining on the supporting table surface."}, {"label": "subtasks", "start_step": 1365, "end_step": 1371, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward slightly off the table surface."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand grasps the green hexagonal block on the dark table surface, lifting it completely off the table and moving it upward to position the block directly above the target purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1410, "end_step": 1447, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowering the block to fit it onto the peg to form an assembly with the rack."}, {"label": "subtasks", "start_step": 1448, "end_step": 1507, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the assembled green block on the purple peg without any visible movement of the hand, fingers, or block."}, {"label": "subtasks", "start_step": 1508, "end_step": 1537, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release_reach: Right hand opens fingers to release the white cylindrical block on the purple rod, moving downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1597, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 1598, "end_step": 1619, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the table surface."}, {"label": "subtasks", "start_step": 1620, "end_step": 1657, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand grips the white hexagonal nut and moves it upward to the position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1658, "end_step": 1814, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod, making small positional adjustments to align the parts properly."}, {"label": "subtasks", "start_step": 1815, "end_step": 1859, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the top of the purple rod on the wooden base, opening fingers to release the block once it is supported by the rod."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves rightward and downward toward the white hexagonal nut resting on the table near the wooden base, with no contact to the target nut."}, {"label": "subtasks", "start_step": 1882, "end_step": 1934, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes small finger adjustments to close around the white hexagonal nut on the table, working to establish a stable grasp on the nut."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward off the dark table surface."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1995, "end_step": 2084, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to fit over the rod, and opens fingers to release the block onto the rod."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand releases the white hexagonal block mounted on the purple rod of the wooden block stand, fingers opening to break contact with the block."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and rightward through empty space toward the loose white hexagonal nut resting on the dark work surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2189, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand contacts the loose white hexagonal nut on the dark work surface, closing and adjusting finger positions to establish a grip on the nut."}, {"label": "subtasks", "start_step": 2190, "end_step": 2227, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table surface and moves it upward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2228, "end_step": 2294, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and lowers the block to nest it onto the rod for assembly."}, {"label": "subtasks", "start_step": 2295, "end_step": 2317, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block positioned on the purple peg of the wooden assembly stand."}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward across the dark work surface toward the green hollow cube, making no contact with the cube during this movement."}, {"label": "subtasks", "start_step": 2355, "end_step": 2407, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hollow cube resting on the dark work surface, making small finger position adjustments to form a stable grip while the cube remains on the work surface."}, {"label": "subtasks", "start_step": 2408, "end_step": 2414, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves upward with the grasped green hollow cube, lifting the cube completely away from the dark work surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2474, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the grasped green block upward and leftward toward the purple post on the wooden block rack."}, {"label": "subtasks", "start_step": 2475, "end_step": 2519, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand adjusts the green block to align its hole with the purple post, opens fingers to release the block which falls to the table."}, {"label": "subtasks", "start_step": 2520, "end_step": 2564, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: idle: Right hand remains empty above the block rack without any visible movement."}, {"label": "subtasks", "start_step": 2565, "end_step": 2594, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward empty to approach the green block resting on the table surface."}, {"label": "subtasks", "start_step": 2595, "end_step": 2624, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green block on the table to form a grip."}, {"label": "subtasks", "start_step": 2625, "end_step": 2677, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reorient: Right hand rotates the grasped green block about a quarter turn to position it upright on the table."}, {"label": "subtasks", "start_step": 2678, "end_step": 2721, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand moves the upright green block slightly forward to the marked position on the table."}, {"label": "subtasks", "start_step": 2722, "end_step": 2841, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions on the upright green block to stabilize the grip for subsequent lifting."}, {"label": "subtasks", "start_step": 2842, "end_step": 2894, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward and leftward to the position above the purple post."}, {"label": "subtasks", "start_step": 2895, "end_step": 2931, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the purple post below."}, {"label": "subtasks", "start_step": 2932, "end_step": 2999, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place: Right hand lowers the green block onto the purple post until the block is fully supported by the post."}], "episode_index": 20}
+{"source_uid": "43ea222478d4374c", "num_frames": 2567, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward and leftward from the left lower position to the home position at the upper left side of the table, remaining empty. | Right hand: reach: Right hand moves leftward and slightly upward from the right side of the table toward the green hexagonal block on the table in front of the wooden peg rack, remaining empty."}, {"label": "goal", "start_step": 0, "end_step": 195, "id": "8623c7c7-6e5c-4bf3-a376-7f4ae269c459"}, {"label": "valid", "start_step": 0, "end_step": 2536, "id": "jXIHBK6hcs8Rbeqm0q4lQ"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves leftward and slightly upward from the right side of the table toward the green hexagonal block on the table in front of the wooden peg rack, remaining empty."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface, holding the block steadily."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the front-left purple peg of the wooden rack and fits the block onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the wooden peg board, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 196, "end_step": 420, "id": "18abbcdf-44ba-49ca-8efb-327acee75543"}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the green hexagonal block rightward and upward to position it above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 300, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost purple peg and lowers the block onto the peg to assemble them."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press_release: Right hand presses the white hexagonal block on the leftmost purple peg downward, and releases the white block after the lower green block reaches the wooden base."}, {"label": "goal", "start_step": 421, "end_step": 570, "id": "ac109fde-a4a3-4553-9850-6bec37b07962"}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the desktop in front of the pegboard."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the desktop, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 510, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the desktop without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}, {"label": "goal", "start_step": 571, "end_step": 695, "id": "f051892f-ab39-4b1e-b599-205188e97a33"}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the leftmost purple peg on the pegboard."}, {"label": "subtasks", "start_step": 600, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple peg by aligning the block's hole with the peg and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press: Right hand presses the white block down onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 696, "end_step": 800, "id": "25dfd82a-b445-4e3b-97a6-fdbfc30d4af0"}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward from the upper peg area to approach the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the dark table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 801, "end_step": 925, "id": "cffcba8a-1f4d-44e1-ac35-c72755bfd11f"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the dark table and transports it toward the leftmost purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden pegboard, lowering it to fit over the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 926, "end_step": 1020, "id": "79e0afb9-c375-4b45-bece-cc5928989500"}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the front left of the table, empty."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front left of the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 1021, "end_step": 1160, "id": "76eb87ea-f5e0-4282-bf58-c897b54cb528"}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning the block's hole with the peg and lowering the block down the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white ring onto the middle purple peg of the wooden base."}, {"label": "goal", "start_step": 1161, "end_step": 1285, "id": "603dacca-6e3d-479b-b0f0-2672b89832b5"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1215, "end_step": 1289, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing and adjusting."}, {"label": "goal", "start_step": 1286, "end_step": 1430, "id": "c215aaa2-01e1-46bd-ad46-4bfcffbce030"}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the vertical peg on the wooden board."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg, lowering it along the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the vertical peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the purple vertical rod and releases the block."}, {"label": "goal", "start_step": 1431, "end_step": 1540, "id": "9700709f-fbe3-4938-8b26-3be5a562f8e1"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the dark table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hollow block on the dark table surface with fingers closing and adjusting."}, {"label": "goal", "start_step": 1541, "end_step": 1675, "id": "3c315c13-e8fd-42b7-af40-66d7856119e7"}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder off the table and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1575, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple peg of the wooden rack, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1676, "end_step": 1770, "id": "c9fdb062-d649-4204-b112-74cbd16c840b"}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1771, "end_step": 1960, "id": "81a1d5f4-01b6-40af-bd26-5cb4716def4c"}, {"label": "subtasks", "start_step": 1845, "end_step": 1897, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base."}, {"label": "goal", "start_step": 1961, "end_step": 2055, "id": "748778cd-2684-4450-b42b-c7ef9b408409"}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing and adjusting."}, {"label": "goal", "start_step": 2056, "end_step": 2250, "id": "c09ef024-6360-4989-b9d7-85db1cd2c5ae"}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it upward and leftward to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2092, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the hole of the white block with the purple rod, then moves the block downward along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white block on the purple rod base without moving."}, {"label": "goal", "start_step": 2251, "end_step": 2370, "id": "fb15ec52-cc3d-45dc-9920-8002aa672304"}, {"label": "subtasks", "start_step": 2265, "end_step": 2271, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: release: Right hand releases its grip on the purple top of the white cylinder with green base placed in the wooden rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2361, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting position to form a stable grip."}, {"label": "subtasks", "start_step": 2362, "end_step": 2369, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the dark table surface."}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it to above the front-right bottle with a purple top."}, {"label": "goal", "start_step": 2371, "end_step": 2510, "id": "9f20f1e8-9541-4c80-8c6a-7bbf05593c15"}, {"label": "subtasks", "start_step": 2408, "end_step": 2497, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the green block with the purple top of the front-right bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press: Right hand presses the green block downward to fully seat it on the bottle."}, {"label": "home", "start_step": 2537, "end_step": 2566, "id": "kd6L2vZT_SIoxCzuytDHs"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves upward and leftward from the left lower position to the home position at the upper left side of the table, remaining empty. | Right hand: reach: Right hand moves leftward and slightly upward from the right side of the table toward the green hexagonal block on the table in front of the wooden peg rack, remaining empty."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves leftward and slightly upward from the right side of the table toward the green hexagonal block on the table in front of the wooden peg rack, remaining empty."}, {"label": "subtasks", "start_step": 98, "end_step": 119, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 134, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface, holding the block steadily."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the front-left purple peg of the wooden rack and fits the block onto the peg."}, {"label": "subtasks", "start_step": 195, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the wooden peg board, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 248, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the green hexagonal block rightward and upward to position it above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 300, "end_step": 419, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost purple peg and lowers the block onto the peg to assemble them."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press_release: Right hand presses the white hexagonal block on the leftmost purple peg downward, and releases the white block after the lower green block reaches the wooden base."}, {"label": "subtasks", "start_step": 458, "end_step": 479, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the desktop in front of the pegboard."}, {"label": "subtasks", "start_step": 480, "end_step": 509, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the desktop, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 510, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the desktop without moving."}, {"label": "subtasks", "start_step": 570, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the leftmost purple peg on the pegboard."}, {"label": "subtasks", "start_step": 600, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple peg by aligning the block's hole with the peg and lowering the block onto the peg."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press: Right hand presses the white block down onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward from the upper peg area to approach the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 742, "end_step": 764, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 765, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 795, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the dark table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the dark table and transports it toward the leftmost purple peg of the wooden pegboard."}, {"label": "subtasks", "start_step": 848, "end_step": 891, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden pegboard, lowering it to fit over the peg."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 997, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the front left of the table, empty."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front left of the table with fingers closing around it."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1042, "end_step": 1079, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning the block's hole with the peg and lowering the block down the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1154, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1184, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white ring onto the middle purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}, {"label": "subtasks", "start_step": 1215, "end_step": 1289, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1290, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the vertical peg on the wooden board."}, {"label": "subtasks", "start_step": 1312, "end_step": 1357, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg, lowering it along the peg."}, {"label": "subtasks", "start_step": 1358, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the vertical peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the purple vertical rod and releases the block."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the dark table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1551, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hollow block on the dark table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1552, "end_step": 1574, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder off the table and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1575, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple peg of the wooden rack, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1725, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1845, "end_step": 1897, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1950, "end_step": 1979, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2069, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it upward and leftward to above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2092, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the hole of the white block with the purple rod, then moves the block downward along the rod to complete the assembly."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white block on the purple rod base without moving."}, {"label": "subtasks", "start_step": 2265, "end_step": 2271, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: release: Right hand releases its grip on the purple top of the white cylinder with green base placed in the wooden rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2361, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting position to form a stable grip."}, {"label": "subtasks", "start_step": 2362, "end_step": 2369, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the dark table surface."}, {"label": "subtasks", "start_step": 2370, "end_step": 2407, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it to above the front-right bottle with a purple top."}, {"label": "subtasks", "start_step": 2408, "end_step": 2497, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the green block with the purple top of the front-right bottle and fits it onto the bottle."}, {"label": "subtasks", "start_step": 2498, "end_step": 2519, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press: Right hand presses the green block downward to fully seat it on the bottle."}], "episode_index": 21}
+{"source_uid": "779740b0b1a108bf", "num_frames": 3397, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the leftmost white cylindrical block on the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 215, "id": "392b7d2b-6569-4cd8-9124-4a5e2e60e2e1"}, {"label": "valid", "start_step": 0, "end_step": 3365, "id": "KM_QDf9GRXYeH7HptSXbV"}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the leftmost white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white cylindrical block upwards away from the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the black table surface."}, {"label": "goal", "start_step": 216, "end_step": 325, "id": "faca90bd-cdf0-42fd-8ea5-dbc82d4baa84"}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cube upwards away from the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cube to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube with the purple peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the purple peg without any movement."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the leftmost purple post of the wooden base."}, {"label": "goal", "start_step": 326, "end_step": 465, "id": "da36a868-b16a-4e6f-973a-e28d80cc65e8"}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves down from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}, {"label": "goal", "start_step": 466, "end_step": 590, "id": "3ff7c419-6b8e-4ac6-a0d1-1918edcd876f"}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg board area towards the leftmost white hexagonal block on the table, without contacting the block."}, {"label": "goal", "start_step": 591, "end_step": 755, "id": "0ec40e14-649b-4156-abdc-b239a5141632"}, {"label": "subtasks", "start_step": 660, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the leftmost white hexagonal block, fingers close and adjust slightly to form a stable grip on the block."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block slightly upwards off the table surface."}, {"label": "goal", "start_step": 756, "end_step": 875, "id": "97443972-86a8-45b3-870a-8680cee2182d"}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block downward towards the purple peg on the wooden base."}, {"label": "goal", "start_step": 876, "end_step": 1030, "id": "334e6e29-3371-46bf-b53c-1f4fe54bee45"}, {"label": "subtasks", "start_step": 908, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg by pressing it down along the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the white cylindrical block on the table surface."}, {"label": "goal", "start_step": 1031, "end_step": 1160, "id": "6e285065-4a70-4f8c-b08a-1efdcc804603"}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upwards away from the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple rod of the wooden base."}, {"label": "goal", "start_step": 1161, "end_step": 1265, "id": "c4e0b93c-d1bb-4dc2-9314-e2a8d3df7953"}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block fitted onto the purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the black tabletop."}, {"label": "goal", "start_step": 1266, "end_step": 1405, "id": "c7e070a8-76d0-4aa1-9d31-2f78687e5f3c"}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward to the area above the wooden peg rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the green cubic block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1406, "end_step": 1545, "id": "89521914-ab57-447f-bbc5-e77e8dca677a"}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the dark table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the position above the purple peg on the wooden base."}, {"label": "goal", "start_step": 1546, "end_step": 1705, "id": "6c6bbcbd-6c9e-4ed4-8fbf-4b0617d345c3"}, {"label": "subtasks", "start_step": 1575, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning and lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the rod of the wooden base."}, {"label": "goal", "start_step": 1706, "end_step": 1810, "id": "9af20c15-770a-4775-b7bb-23ceef6fbefa"}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black table."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the black table."}, {"label": "goal", "start_step": 1811, "end_step": 2015, "id": "b793316d-c67b-4e68-8f68-7c0456f22dec"}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white cylindrical block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block fitted on the purple rod."}, {"label": "goal", "start_step": 2016, "end_step": 2170, "id": "73f987be-cf45-42c6-92eb-66d09df0369a"}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it toward the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table in front of the wooden rack."}, {"label": "goal", "start_step": 2171, "end_step": 2440, "id": "67e8f505-0d3f-47e9-bfc5-d553c89c3ab4"}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up off the table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2325, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2408, "end_step": 2429, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden rack after releasing the block."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2441, "end_step": 2550, "id": "04f498ac-7979-4385-bbb2-43246f448246"}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the grey table."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the grey table."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the black table surface without moving."}, {"label": "goal", "start_step": 2551, "end_step": 3315, "id": "c55d2b85-46cb-4739-b620-5639f2d1e6c9"}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up away from the table surface."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2595, "end_step": 2819, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 2820, "end_step": 2901, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downwards along the pillar to fit it tightly."}, {"label": "subtasks", "start_step": 2902, "end_step": 2947, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block downwards from the pillar back to the table surface."}, {"label": "subtasks", "start_step": 2948, "end_step": 3074, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green block placed on the table surface."}, {"label": "subtasks", "start_step": 3075, "end_step": 3089, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up away from the table surface again."}, {"label": "subtasks", "start_step": 3090, "end_step": 3104, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar with purple top again."}, {"label": "subtasks", "start_step": 3105, "end_step": 3231, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white pillar and inserts it onto the pillar again."}, {"label": "subtasks", "start_step": 3232, "end_step": 3329, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downwards along the pillar to fix it stably."}, {"label": "home", "start_step": 3366, "end_step": 3396, "id": "BBWw27Hh2MtiGxNstt_F1"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the leftmost white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 82, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the leftmost white cylindrical block on the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white cylindrical block upwards away from the wooden base."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cube upwards away from the table surface."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cube to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube with the purple peg by lowering it onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the purple peg without any movement."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the leftmost purple post of the wooden base."}, {"label": "subtasks", "start_step": 360, "end_step": 397, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves down from the wooden base toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 398, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white hexagonal block towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 584, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 585, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg board area towards the leftmost white hexagonal block on the table, without contacting the block."}, {"label": "subtasks", "start_step": 660, "end_step": 741, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the leftmost white hexagonal block, fingers close and adjust slightly to form a stable grip on the block."}, {"label": "subtasks", "start_step": 742, "end_step": 771, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block slightly upwards off the table surface."}, {"label": "subtasks", "start_step": 772, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 870, "end_step": 907, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block downward towards the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 908, "end_step": 1019, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg by pressing it down along the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upwards away from the table surface."}, {"label": "subtasks", "start_step": 1058, "end_step": 1087, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1154, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and inserts it downwards onto the peg."}, {"label": "subtasks", "start_step": 1155, "end_step": 1161, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1169, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block fitted onto the purple peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 1275, "end_step": 1297, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward to the area above the wooden peg rack."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the green cubic block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1394, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1439, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1538, "end_step": 1544, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the dark table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1575, "end_step": 1694, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning and lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 1695, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the rod of the wooden base."}, {"label": "subtasks", "start_step": 1732, "end_step": 1761, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black table."}, {"label": "subtasks", "start_step": 1762, "end_step": 1829, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the black table."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1919, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white cylindrical block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1920, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple rod to the bottom of the rod."}, {"label": "subtasks", "start_step": 2010, "end_step": 2024, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block fitted on the purple rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2078, "end_step": 2129, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it toward the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 2212, "end_step": 2271, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2272, "end_step": 2294, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up off the table surface."}, {"label": "subtasks", "start_step": 2295, "end_step": 2324, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2325, "end_step": 2384, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2408, "end_step": 2429, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden rack after releasing the block."}, {"label": "subtasks", "start_step": 2430, "end_step": 2467, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2468, "end_step": 2504, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the grey table."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the grey table."}, {"label": "subtasks", "start_step": 2550, "end_step": 2564, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the black table surface without moving."}, {"label": "subtasks", "start_step": 2565, "end_step": 2579, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up away from the table surface."}, {"label": "subtasks", "start_step": 2580, "end_step": 2594, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar with purple top on the wooden base."}, {"label": "subtasks", "start_step": 2595, "end_step": 2819, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white pillar and inserts it onto the pillar."}, {"label": "subtasks", "start_step": 2820, "end_step": 2901, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downwards along the pillar to fit it tightly."}, {"label": "subtasks", "start_step": 2902, "end_step": 2947, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block downwards from the pillar back to the table surface."}, {"label": "subtasks", "start_step": 2948, "end_step": 3074, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green block placed on the table surface."}, {"label": "subtasks", "start_step": 3075, "end_step": 3089, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up away from the table surface again."}, {"label": "subtasks", "start_step": 3090, "end_step": 3104, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar with purple top again."}, {"label": "subtasks", "start_step": 3105, "end_step": 3231, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white pillar and inserts it onto the pillar again."}, {"label": "subtasks", "start_step": 3232, "end_step": 3329, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downwards along the pillar to fix it stably."}], "episode_index": 22}
+{"source_uid": "aa053254c1ea3ade", "num_frames": 4088, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: idle: Right hand remains empty at the right side of the table with no observable movement."}, {"label": "goal", "start_step": 0, "end_step": 230, "id": "65a72e5e-c1c9-47ef-acf2-b608a9aa6933"}, {"label": "valid", "start_step": 0, "end_step": 4055, "id": "laMxiDFuO59wMNbH6GDBe"}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block near the wooden assembly base, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 98, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block, making small continuous adjustments to finger contact points and wrist position to establish a stable grip, while the block stays resting on the table surface."}, {"label": "goal", "start_step": 231, "end_step": 390, "id": "82561307-1c74-43af-b17b-0d20e74c3b68"}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand moves vertically upward to lift the gripped green hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 308, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the leftmost purple peg, fits the block onto the peg while making small positional adjustments to maintain alignment, and lowers the block to rest stably on the wooden base surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand grips the green hexagonal block on the purple post and pulls it toward the camera until the block is completely separated from the post and the wooden base."}, {"label": "goal", "start_step": 391, "end_step": 555, "id": "7e3fd71b-e797-4249-8c45-667abff086eb"}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the camera to the position above the target white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place: Right hand adjusts the position of the green hexagonal block and lowers it onto the target white hexagonal block until the block is supported by the target."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the dark table surface."}, {"label": "goal", "start_step": 556, "end_step": 850, "id": "6f7de6b2-3493-4f28-8d86-70c104e6403c"}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the stably grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block toward the purple vertical post mounted on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 839, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical post and fits the block onto the post with slight positional adjustments."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg of the wooden base, with the block positioned above the green block on the same peg, no observable movement of hand or block."}, {"label": "goal", "start_step": 851, "end_step": 1090, "id": "a0be9a2d-59c3-41b1-9576-9ff46d451d11"}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reorient: Right hand rotates the held white hexagonal block slightly to align its central hole with the purple peg, with a small upward shift along the peg during adjustment."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand moves the white hexagonal block straight down along the purple peg until the block rests stably on the green block below, fingers opening to release grip on the block at the end of the movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves empty downward from the wooden peg base toward the leftmost white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block on the black table surface, adjusting finger position to establish a stable grip, with the block remaining on the table surface."}, {"label": "goal", "start_step": 1091, "end_step": 1310, "id": "4614e8b5-da78-428f-9aff-ca86c84e7389"}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the unoccupied purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1281, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand adjusts the orientation and position of the held white hexagonal block to align its central hole with the purple rod, lowering the block slightly to fit it onto the rod and establish an assembly connection."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod until the block rests stably on the top surface of the green block mounted on the wooden base, fully supported by the green block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the leftmost peg of the wooden stand to establish a stable grip, with the block remaining on the peg."}, {"label": "goal", "start_step": 1311, "end_step": 1435, "id": "48f627ae-46b9-416b-bf2a-72a67ab2c153"}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand moves the grasped white hexagonal block off the wooden peg and downward to the position above the table surface near the front of the wooden stand."}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place: Right hand lowers the white hexagonal block onto the table surface, setting it down to be fully supported by the table."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the placed white hexagonal block on the table surface with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal block resting on the table near the wooden assembly base."}, {"label": "goal", "start_step": 1436, "end_step": 1555, "id": "ea4cb55c-9fd0-480e-bfba-c5a2f549d2ab"}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg, making small positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the purple rod on the wooden assembly base, opens fingers to release the block."}, {"label": "goal", "start_step": 1556, "end_step": 1670, "id": "346e11c2-96c6-4d99-94c0-764c4e97c84c"}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block located on the table surface near the wooden base."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers gradually to establish a stable grasp with minor contact adjustments."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand holds the green hexagonal block with closed fingers and lifts the block vertically upward from the dark table surface until the block is fully off the table."}, {"label": "goal", "start_step": 1671, "end_step": 1790, "id": "eb98a27d-8276-4aa3-a7d1-9dc9f508902f"}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport_mate: Right hand carries the lifted green hexagonal block upward and forward toward the purple rod on the wooden assembly base, aligns the block's central hole with the rod, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted onto the purple rod on the wooden base, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the white hexagonal block on the dark work surface while remaining empty."}, {"label": "goal", "start_step": 1791, "end_step": 1915, "id": "dbe7de8a-aa47-46fd-952e-21dd4e74d4c5"}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the work surface, making slight adjustments to finger positions to form a grip on the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark work surface without observable movement."}, {"label": "goal", "start_step": 1916, "end_step": 2075, "id": "11d6a7b0-1eb7-4c05-a652-5f10b1d05c35"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark work surface and transports it upward toward the empty purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1950, "end_step": 2061, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the empty purple peg on the wooden base, adjusting position slightly as it lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2062, "end_step": 2069, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release_retreat: Right hand opens its fingers to release the white hexagonal block seated on the purple peg, moving away from the assembled block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the top peg of the stacked block assembly, releasing the block as it becomes fully supported by the peg."}, {"label": "goal", "start_step": 2076, "end_step": 2240, "id": "670fcf8b-fd4d-41fc-a4de-8ccacd8ceb77"}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the small white hexagonal block resting on the table adjacent to the wooden base, with fingers held in an open position."}, {"label": "subtasks", "start_step": 2130, "end_step": 2234, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, closing fingers and making small positional adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward to the position above the purple rod on the wooden block base."}, {"label": "goal", "start_step": 2241, "end_step": 2380, "id": "384c5ffd-69f0-482a-b22d-3ef09fea95ec"}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2302, "end_step": 2369, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any visible movement or adjustment."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand holds the purple rod, lowers it toward the white holder on the wooden base and releases the rod to let it settle into the holder."}, {"label": "goal", "start_step": 2381, "end_step": 2500, "id": "76efdc8c-cdd3-43d9-be95-7ec3d9964c7d"}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the dark table surface, with fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 2430, "end_step": 2459, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut on the dark table surface without any visible movement of the hand or the gripped nut."}, {"label": "goal", "start_step": 2501, "end_step": 2625, "id": "9f2e20eb-dc30-4821-bcc9-16ebc3fa1394"}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the small white block completely off the table surface and moves it upward toward the stacked block assembly on the light wooden base."}, {"label": "subtasks", "start_step": 2550, "end_step": 2624, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the small white block with the target position on the top of the stacked blocks and fits it into the assembly, making slight positional adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 2625, "end_step": 2684, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward from the area adjacent to the stacked bottle assembly toward the green cubic block on the dark table surface, making no contact with the block during movement."}, {"label": "goal", "start_step": 2626, "end_step": 2745, "id": "533f4993-4e1b-419e-b28a-6f97c43e1888"}, {"label": "subtasks", "start_step": 2685, "end_step": 2744, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp_lift: Right hand makes contact with the green cubic block on the table, closes fingers and adjusts position to form a firm grip around the block while raising the block slightly from the table surface."}, {"label": "subtasks", "start_step": 2745, "end_step": 2767, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand holds the green hexagonal block resting on the black work surface and lifts it upward until the block is fully separated from the supporting surface."}, {"label": "goal", "start_step": 2746, "end_step": 2890, "id": "3f37ab6a-4aa1-4d47-ad8f-e7667f77aa28"}, {"label": "subtasks", "start_step": 2768, "end_step": 2797, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block upward and toward the wooden block rack, moving the block to the position directly above the purple cylindrical peg on the rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2894, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand makes small positional adjustments to the green hexagonal block, aligning its central hole with the purple cylindrical peg below to attempt nesting the block onto the peg."}, {"label": "home", "start_step": 4056, "end_step": 4087, "id": "mBcw6TG8ILBHRTL5sh9SK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: idle: Right hand remains empty at the right side of the table with no observable movement."}, {"label": "subtasks", "start_step": 60, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block near the wooden assembly base, with fingers extended as it approaches the target."}, {"label": "subtasks", "start_step": 98, "end_step": 261, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block, making small continuous adjustments to finger contact points and wrist position to establish a stable grip, while the block stays resting on the table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 277, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand moves vertically upward to lift the gripped green hexagonal block completely off the dark table surface."}, {"label": "subtasks", "start_step": 278, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 308, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the leftmost purple peg, fits the block onto the peg while making small positional adjustments to maintain alignment, and lowers the block to rest stably on the wooden base surface."}, {"label": "subtasks", "start_step": 390, "end_step": 434, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand grips the green hexagonal block on the purple post and pulls it toward the camera until the block is completely separated from the post and the wooden base."}, {"label": "subtasks", "start_step": 435, "end_step": 471, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the camera to the position above the target white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 472, "end_step": 554, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place: Right hand adjusts the position of the green hexagonal block and lowers it onto the target white hexagonal block until the block is supported by the target."}, {"label": "subtasks", "start_step": 555, "end_step": 591, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 592, "end_step": 607, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the stably grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 608, "end_step": 637, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block toward the purple vertical post mounted on the wooden base."}, {"label": "subtasks", "start_step": 638, "end_step": 839, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical post and fits the block onto the post with slight positional adjustments."}, {"label": "subtasks", "start_step": 840, "end_step": 884, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg of the wooden base, with the block positioned above the green block on the same peg, no observable movement of hand or block."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reorient: Right hand rotates the held white hexagonal block slightly to align its central hole with the purple peg, with a small upward shift along the peg during adjustment."}, {"label": "subtasks", "start_step": 922, "end_step": 974, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand moves the white hexagonal block straight down along the purple peg until the block rests stably on the green block below, fingers opening to release grip on the block at the end of the movement."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves empty downward from the wooden peg base toward the leftmost white hexagonal block resting on the black table surface."}, {"label": "subtasks", "start_step": 1035, "end_step": 1101, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block on the black table surface, adjusting finger position to establish a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1102, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the unoccupied purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1132, "end_step": 1281, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand adjusts the orientation and position of the held white hexagonal block to align its central hole with the purple rod, lowering the block slightly to fit it onto the rod and establish an assembly connection."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod until the block rests stably on the top surface of the green block mounted on the wooden base, fully supported by the green block."}, {"label": "subtasks", "start_step": 1305, "end_step": 1327, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the leftmost peg of the wooden stand to establish a stable grip, with the block remaining on the peg."}, {"label": "subtasks", "start_step": 1328, "end_step": 1371, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand moves the grasped white hexagonal block off the wooden peg and downward to the position above the table surface near the front of the wooden stand."}, {"label": "subtasks", "start_step": 1372, "end_step": 1401, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place: Right hand lowers the white hexagonal block onto the table surface, setting it down to be fully supported by the table."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the placed white hexagonal block on the table surface with no observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal block resting on the table near the wooden assembly base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1477, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg, making small positional adjustments to align the parts."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the purple rod on the wooden assembly base, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1611, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block located on the table surface near the wooden base."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers gradually to establish a stable grasp with minor contact adjustments."}, {"label": "subtasks", "start_step": 1665, "end_step": 1679, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand holds the green hexagonal block with closed fingers and lifts the block vertically upward from the dark table surface until the block is fully off the table."}, {"label": "subtasks", "start_step": 1680, "end_step": 1724, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport_mate: Right hand carries the lifted green hexagonal block upward and forward toward the purple rod on the wooden assembly base, aligns the block's central hole with the rod, and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted onto the purple rod on the wooden base, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1844, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the white hexagonal block on the dark work surface while remaining empty."}, {"label": "subtasks", "start_step": 1845, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the work surface, making slight adjustments to finger positions to form a grip on the block."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark work surface without observable movement."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark work surface and transports it upward toward the empty purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 1950, "end_step": 2061, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the empty purple peg on the wooden base, adjusting position slightly as it lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 2062, "end_step": 2069, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release_retreat: Right hand opens its fingers to release the white hexagonal block seated on the purple peg, moving away from the assembled block."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the top peg of the stacked block assembly, releasing the block as it becomes fully supported by the peg."}, {"label": "subtasks", "start_step": 2100, "end_step": 2129, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the small white hexagonal block resting on the table adjacent to the wooden base, with fingers held in an open position."}, {"label": "subtasks", "start_step": 2130, "end_step": 2234, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, closing fingers and making small positional adjustments to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2235, "end_step": 2271, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward to the position above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 2272, "end_step": 2301, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod."}, {"label": "subtasks", "start_step": 2302, "end_step": 2369, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any visible movement or adjustment."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand holds the purple rod, lowers it toward the white holder on the wooden base and releases the rod to let it settle into the holder."}, {"label": "subtasks", "start_step": 2385, "end_step": 2429, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the dark table surface, with fingers slightly open as it approaches the target."}, {"label": "subtasks", "start_step": 2430, "end_step": 2459, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2460, "end_step": 2504, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut on the dark table surface without any visible movement of the hand or the gripped nut."}, {"label": "subtasks", "start_step": 2505, "end_step": 2549, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the small white block completely off the table surface and moves it upward toward the stacked block assembly on the light wooden base."}, {"label": "subtasks", "start_step": 2550, "end_step": 2624, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the small white block with the target position on the top of the stacked blocks and fits it into the assembly, making slight positional adjustments to seat the block properly."}, {"label": "subtasks", "start_step": 2625, "end_step": 2684, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward from the area adjacent to the stacked bottle assembly toward the green cubic block on the dark table surface, making no contact with the block during movement."}, {"label": "subtasks", "start_step": 2685, "end_step": 2744, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp_lift: Right hand makes contact with the green cubic block on the table, closes fingers and adjusts position to form a firm grip around the block while raising the block slightly from the table surface."}, {"label": "subtasks", "start_step": 2745, "end_step": 2767, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand holds the green hexagonal block resting on the black work surface and lifts it upward until the block is fully separated from the supporting surface."}, {"label": "subtasks", "start_step": 2768, "end_step": 2797, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block upward and toward the wooden block rack, moving the block to the position directly above the purple cylindrical peg on the rack."}, {"label": "subtasks", "start_step": 2798, "end_step": 2894, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand makes small positional adjustments to the green hexagonal block, aligning its central hole with the purple cylindrical peg below to attempt nesting the block onto the peg."}], "episode_index": 23}
+{"source_uid": "d7580cfdb806ba5d", "num_frames": 3013, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table at the left front of the wooden peg rack, with hand empty."}, {"label": "goal", "start_step": 0, "end_step": 215, "id": "f8c38694-0b97-4882-a5eb-8b89ce99172f"}, {"label": "valid", "start_step": 0, "end_step": 2982, "id": "YumHumYpQ3Nm38OqdbxB-"}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the green hexagonal block stationary on the table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward until it leaves the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position above the middle purple peg on the wooden board."}, {"label": "goal", "start_step": 216, "end_step": 375, "id": "4bc53ec7-cc58-4a9b-9fa5-ecab010ab8a5"}, {"label": "subtasks", "start_step": 232, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the green block with the middle purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate_release: Right hand lowers the green cube along the leftmost purple peg of the wooden base to complete mating and releases the cube."}, {"label": "goal", "start_step": 376, "end_step": 540, "id": "e0dddbd0-6cc3-464b-b6e9-60ee567ba7f1"}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the tabletop at the upper left of the ground green cube."}, {"label": "subtasks", "start_step": 458, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp_lift: Right hand closes and adjusts fingers to grasp the white hexagonal piece on the tabletop and lifts it slightly off the surface."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves it backward to the position above the purple peg on the pegboard."}, {"label": "goal", "start_step": 541, "end_step": 655, "id": "dbea5dec-2b43-48dd-b882-921107fabce9"}, {"label": "subtasks", "start_step": 562, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down along the peg onto the green base block."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: place_release: Right hand places the white ring onto the leftmost purple peg of the upper wooden rack and releases the grip."}, {"label": "goal", "start_step": 656, "end_step": 795, "id": "d44429ba-657a-494c-8129-3d8748a7bc0d"}, {"label": "subtasks", "start_step": 682, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward to approach the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 735, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table with subtle finger adjustments."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the dark table surface and lifts it off the table."}, {"label": "goal", "start_step": 796, "end_step": 1200, "id": "6f44c8eb-052d-43d9-a662-95fc61ff62e2"}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 1199, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front-left purple peg and inserts it onto the peg with continuous slight downward adjustments."}, {"label": "subtasks", "start_step": 1200, "end_step": 1267, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward from the upper peg assembly area toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1201, "end_step": 1325, "id": "eb55620f-1ce6-4bfb-8ebf-ada533dd81d9"}, {"label": "subtasks", "start_step": 1268, "end_step": 1341, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1326, "end_step": 1460, "id": "e01102e7-719d-4a0a-8208-01fc2bed7bce"}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: place_release: Right hand lowers the white ring along the purple rod on the wooden base and releases it."}, {"label": "goal", "start_step": 1461, "end_step": 1590, "id": "608734d7-7ee4-46da-8337-c8b4aa49afde"}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1604, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 1591, "end_step": 1730, "id": "f5f56380-4472-4457-af2f-8428098be0d5"}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it upward to the area above the wooden rack's pegs."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle vertical peg of the wooden rack, lowering the block to fit the peg through its central hole."}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the green hexagonal block on the middle vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the peg above the green block on the wooden base and releases the block."}, {"label": "goal", "start_step": 1731, "end_step": 1870, "id": "1fd417c4-8e62-4b0a-ae0d-4c64a9f575e4"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface below the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1851, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1852, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1871, "end_step": 2080, "id": "0a47c1fb-4150-4e01-92e1-6c8ef3b031c8"}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden peg board with stacked blocks."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with a vertical peg on the board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1942, "end_step": 2069, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: place_release: Right hand places the white ring onto the purple vertical peg of the wooden base and releases it."}, {"label": "goal", "start_step": 2081, "end_step": 2190, "id": "1055d81e-302f-474f-89e9-2b3d457bccb8"}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2168, "end_step": 2189, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the table surface next to the wooden tray."}, {"label": "goal", "start_step": 2191, "end_step": 2380, "id": "89df9fab-0a13-4ac0-8385-e33c3b08427b"}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: transport: Right hand transports the white cylindrical block to the position above the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 2242, "end_step": 2339, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2340, "end_step": 2369, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand pushes the white hexagonal block down along the purple rod on the wooden base to fit it into assembled position."}, {"label": "goal", "start_step": 2381, "end_step": 2495, "id": "db5b00d5-8f36-43ef-a893-59280fba22b3"}, {"label": "subtasks", "start_step": 2385, "end_step": 2391, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2392, "end_step": 2421, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2451, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white cubic object with a hole on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2496, "end_step": 2630, "id": "64dd97c0-7612-4cae-9689-d2ba7c0acb38"}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the white cubic object off the table and transports it toward the rack with the purple rod."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white cubic object with the purple rod on the rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2565, "end_step": 2624, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white cubic object on the purple rod without moving."}, {"label": "subtasks", "start_step": 2625, "end_step": 2654, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate_release: Right hand mates the purple component into the hole of the rightmost white cylindrical block on the wooden base and releases the component."}, {"label": "goal", "start_step": 2631, "end_step": 2785, "id": "ce75f116-ea19-4e17-af92-a7f789f31a98"}, {"label": "subtasks", "start_step": 2655, "end_step": 2699, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2767, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2768, "end_step": 2774, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the green cubic block up from the table surface."}, {"label": "subtasks", "start_step": 2775, "end_step": 2819, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it to the position above the target bottle on the wooden tray."}, {"label": "goal", "start_step": 2786, "end_step": 2940, "id": "953bc25b-2aef-44ac-bb78-cc7c4979d583"}, {"label": "subtasks", "start_step": 2820, "end_step": 2909, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand mates the green block with the purple pin on the white bottle by aligning and fitting the block onto the pin."}, {"label": "subtasks", "start_step": 2910, "end_step": 2931, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: release: Right hand releases the green block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2932, "end_step": 2954, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: retreat: Right hand retreats upward away from the green block placed on the bottle."}, {"label": "home", "start_step": 2983, "end_step": 3012, "id": "fWdS3UhajlaJTSYUhVrb7"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table at the left front of the wooden peg rack, with hand empty."}, {"label": "subtasks", "start_step": 112, "end_step": 149, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 150, "end_step": 201, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the green hexagonal block stationary on the table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward until it leaves the table surface."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position above the middle purple peg on the wooden board."}, {"label": "subtasks", "start_step": 232, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the green block with the middle purple peg and inserts it downward onto the peg."}, {"label": "subtasks", "start_step": 375, "end_step": 419, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate_release: Right hand lowers the green cube along the leftmost purple peg of the wooden base to complete mating and releases the cube."}, {"label": "subtasks", "start_step": 420, "end_step": 457, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the tabletop at the upper left of the ground green cube."}, {"label": "subtasks", "start_step": 458, "end_step": 539, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp_lift: Right hand closes and adjusts fingers to grasp the white hexagonal piece on the tabletop and lifts it slightly off the surface."}, {"label": "subtasks", "start_step": 540, "end_step": 561, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves it backward to the position above the purple peg on the pegboard."}, {"label": "subtasks", "start_step": 562, "end_step": 644, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down along the peg onto the green base block."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: place_release: Right hand places the white ring onto the leftmost purple peg of the upper wooden rack and releases the grip."}, {"label": "subtasks", "start_step": 682, "end_step": 734, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward to approach the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 735, "end_step": 794, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table with subtle finger adjustments."}, {"label": "subtasks", "start_step": 795, "end_step": 809, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the dark table surface and lifts it off the table."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 1199, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front-left purple peg and inserts it onto the peg with continuous slight downward adjustments."}, {"label": "subtasks", "start_step": 1200, "end_step": 1267, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward from the upper peg assembly area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1341, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1342, "end_step": 1371, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1372, "end_step": 1409, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1410, "end_step": 1454, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: place_release: Right hand lowers the white ring along the purple rod on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1604, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1605, "end_step": 1619, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it upward to the area above the wooden rack's pegs."}, {"label": "subtasks", "start_step": 1620, "end_step": 1649, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle vertical peg of the wooden rack, lowering the block to fit the peg through its central hole."}, {"label": "subtasks", "start_step": 1650, "end_step": 1724, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the green hexagonal block on the middle vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the peg above the green block on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface below the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1851, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1852, "end_step": 1859, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden peg board with stacked blocks."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with a vertical peg on the board and fits it onto the peg."}, {"label": "subtasks", "start_step": 1942, "end_step": 2069, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 2070, "end_step": 2099, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: place_release: Right hand places the white ring onto the purple vertical peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 2100, "end_step": 2137, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 2168, "end_step": 2189, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2190, "end_step": 2211, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the table surface next to the wooden tray."}, {"label": "subtasks", "start_step": 2212, "end_step": 2241, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: transport: Right hand transports the white cylindrical block to the position above the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 2242, "end_step": 2339, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod and fits it onto the rod."}, {"label": "subtasks", "start_step": 2340, "end_step": 2369, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple vertical rod without moving."}, {"label": "subtasks", "start_step": 2370, "end_step": 2384, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand pushes the white hexagonal block down along the purple rod on the wooden base to fit it into assembled position."}, {"label": "subtasks", "start_step": 2385, "end_step": 2391, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 2392, "end_step": 2421, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2451, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 2490, "end_step": 2511, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white cubic object with a hole on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the white cubic object off the table and transports it toward the rack with the purple rod."}, {"label": "subtasks", "start_step": 2542, "end_step": 2564, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white cubic object with the purple rod on the rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 2565, "end_step": 2624, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white cubic object on the purple rod without moving."}, {"label": "subtasks", "start_step": 2625, "end_step": 2654, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate_release: Right hand mates the purple component into the hole of the rightmost white cylindrical block on the wooden base and releases the component."}, {"label": "subtasks", "start_step": 2655, "end_step": 2699, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2767, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2768, "end_step": 2774, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the green cubic block up from the table surface."}, {"label": "subtasks", "start_step": 2775, "end_step": 2819, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it to the position above the target bottle on the wooden tray."}, {"label": "subtasks", "start_step": 2820, "end_step": 2909, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand mates the green block with the purple pin on the white bottle by aligning and fitting the block onto the pin."}, {"label": "subtasks", "start_step": 2910, "end_step": 2931, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: release: Right hand releases the green block, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 2932, "end_step": 2954, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: retreat: Right hand retreats upward away from the green block placed on the bottle."}], "episode_index": 24}
+{"source_uid": "5e1db40d08904c29", "num_frames": 2454, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the purple rod on the right side of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 205, "id": "c4b10eb5-0e31-4fdb-913c-27c68a729e78"}, {"label": "valid", "start_step": 0, "end_step": 2422, "id": "pwo4AsANabP2MTooSV1e5"}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the purple rod on the right side of the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the grasped purple rod downward to remove it from the hole on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green block on the table surface in front of the wooden base."}, {"label": "goal", "start_step": 206, "end_step": 320, "id": "6a46bdf1-9fd1-42b3-910e-e450ac379c96"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg until it is fully seated on the base."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 321, "end_step": 465, "id": "ab7857dc-2e16-4039-b646-d420fc1c63c5"}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 466, "end_step": 565, "id": "bba604f1-4e0c-4518-a4a0-129c78ef8992"}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the purple peg."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple peg, inserts it onto the peg and presses downward to secure the block."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 566, "end_step": 700, "id": "12381c2e-5869-4836-831b-fbf79aa2865a"}, {"label": "subtasks", "start_step": 608, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 701, "end_step": 885, "id": "e745affc-363f-4116-aadb-63892ba3c7c6"}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting its position to fit properly onto the rod."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white cylindrical block and moves to the position above the purple vertical rod on the wooden base."}, {"label": "goal", "start_step": 886, "end_step": 1090, "id": "0adb454e-0d43-4373-ac23-eea5f1bd28d2"}, {"label": "subtasks", "start_step": 915, "end_step": 1064, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block that is already placed on the purple vertical rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the table in front of the wooden base."}, {"label": "goal", "start_step": 1091, "end_step": 1205, "id": "c8f61bd1-e424-4b70-b50e-38ddfc6b83ae"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down onto the purple rod to secure its position."}, {"label": "subtasks", "start_step": 1200, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube placed on the black tabletop."}, {"label": "goal", "start_step": 1206, "end_step": 1315, "id": "769e4db8-97a6-462b-8f1d-7ad716eea2c0"}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cube on the tabletop, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1316, "end_step": 1435, "id": "df2d0cb2-726b-49f5-a4f2-6e07a519c99a"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and moves it toward the pegboard."}, {"label": "subtasks", "start_step": 1350, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg on the pegboard and inserts it to complete assembly."}, {"label": "goal", "start_step": 1436, "end_step": 1540, "id": "b5f63f72-cac4-4e2c-b6b5-e1fb40a2d1aa"}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form stable contact."}, {"label": "goal", "start_step": 1541, "end_step": 1675, "id": "029d3229-f590-4525-9c52-300c36fbf183"}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the tabletop and transports it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand presses the white cylindrical object down onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the stacked blocks on the wooden base."}, {"label": "goal", "start_step": 1676, "end_step": 1760, "id": "d25d88f8-f3d7-44e1-8f11-6304badd1f19"}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1761, "end_step": 1880, "id": "36b0a510-055b-46ca-b91d-c3963d083c74"}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple rod to complete assembly."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white cylindrical block and retreats slightly from the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg of the wooden rack."}, {"label": "goal", "start_step": 1881, "end_step": 1990, "id": "b6dce445-5dff-45c6-aeb6-9517e8415457"}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1991, "end_step": 2125, "id": "be862be8-44cd-440a-9106-6a277abcabeb"}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the black table and moves it above the wooden block tray."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder into the empty slot on the wooden block tray."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylinder onto the peg of the wooden rack and releases the cylinder."}, {"label": "goal", "start_step": 2126, "end_step": 2240, "id": "5941a177-b00f-45f7-8a4d-a12f65374f3e"}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2182, "end_step": 2257, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2241, "end_step": 2370, "id": "e66dc84f-4b50-45c5-8b7a-d2837e195051"}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it towards the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 2288, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the green block with the target white post on the wooden rack, inserts it onto the post and presses down to fit the block in position."}, {"label": "home", "start_step": 2423, "end_step": 2453, "id": "2mbdC8gghxmaXuLPcmk_P"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the purple rod on the right side of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the purple rod on the right side of the wooden base."}, {"label": "subtasks", "start_step": 120, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the grasped purple rod downward to remove it from the hole on the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green block on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 255, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg until it is fully seated on the base."}, {"label": "subtasks", "start_step": 315, "end_step": 351, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 352, "end_step": 397, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 398, "end_step": 479, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 480, "end_step": 501, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the purple peg."}, {"label": "subtasks", "start_step": 502, "end_step": 524, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple peg, inserts it onto the peg and presses downward to secure the block."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without any movement."}, {"label": "subtasks", "start_step": 555, "end_step": 607, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 659, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 660, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 712, "end_step": 734, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 735, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting its position to fit properly onto the rod."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, opening fingers to separate from the block."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white cylindrical block and moves to the position above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1064, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block that is already placed on the purple vertical rod."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1148, "end_step": 1199, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down onto the purple rod to secure its position."}, {"label": "subtasks", "start_step": 1200, "end_step": 1267, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube placed on the black tabletop."}, {"label": "subtasks", "start_step": 1268, "end_step": 1334, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cube on the tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and moves it toward the pegboard."}, {"label": "subtasks", "start_step": 1350, "end_step": 1469, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg on the pegboard and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1559, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form stable contact."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the tabletop and transports it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the target peg on the wooden board."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand presses the white cylindrical object down onto the peg to complete the assembly."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the stacked blocks on the wooden base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1784, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it to the area above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple rod to complete assembly."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white cylindrical block and retreats slightly from the wooden rack."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg of the wooden rack."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 2024, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the black table and moves it above the wooden block tray."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder into the empty slot on the wooden block tray."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylinder onto the peg of the wooden rack and releases the cylinder."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2182, "end_step": 2257, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2258, "end_step": 2287, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it towards the wooden rack with white cylinders."}, {"label": "subtasks", "start_step": 2288, "end_step": 2384, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the green block with the target white post on the wooden rack, inserts it onto the post and presses down to fit the block in position."}], "episode_index": 25}
+{"source_uid": "89de417331e3b081", "num_frames": 2514, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 127, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from its initial upper right position downward and leftward toward the green hexagonal block adjacent to the wooden block base, with fingers kept open, remaining empty as it approaches the target block."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "f2e1473a-c171-4bdd-bce1-41fc8526fba1"}, {"label": "valid", "start_step": 0, "end_step": 2483, "id": "HQcG4Rnzw5mXyCiuE8sLc"}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table surface, making small finger and wrist adjustments to establish a firm grasp on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no visible movement of the hand, fingers or the grasped block."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp around the green hexagonal block resting on the dark work surface."}, {"label": "goal", "start_step": 181, "end_step": 390, "id": "071acc0b-d440-4765-ba00-804107da4ea6"}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark work surface and moves it upward to position it above the purple assembly peg."}, {"label": "subtasks", "start_step": 255, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the green hexagonal block to align with the purple assembly peg, slides the block down the peg to fit onto the assembly."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the green hexagonal block and moves it downward to place it onto the leftmost purple peg of the wooden assembly base."}, {"label": "goal", "start_step": 391, "end_step": 525, "id": "b4d955cf-1fb6-4ba9-b881-207ffcaab26b"}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block that rests on the purple peg."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward empty toward the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 458, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its finger positions and closes fingers around the leftmost white hexagonal block on the table to form a grip."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface and lifts the block upward until it fully separates from the table."}, {"label": "goal", "start_step": 526, "end_step": 655, "id": "24bb781d-f71a-464b-8bca-73ecfeee9ac6"}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, slides the block down the rod, and presses the block gently to seat it on the green base block with small grip adjustments during movement."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the green base over the purple rod, releasing the block as it becomes fully supported."}, {"label": "goal", "start_step": 656, "end_step": 755, "id": "24363606-55cd-4bd0-a899-22a913688696"}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward to approach the leftmost white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block, making small positional adjustments of the fingers to establish firm contact with the block."}, {"label": "goal", "start_step": 756, "end_step": 890, "id": "b16ba5f7-775d-41f6-95f9-ee4423e05bf0"}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the dark table surface and transports it upward to position the object directly above an empty purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 810, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal object with the empty purple peg on the wooden assembly rack and lowers the object to fit onto the peg, making small adjustments to seat the object properly."}, {"label": "goal", "start_step": 891, "end_step": 1015, "id": "b2161b0c-733e-4b28-863a-67e60beee7f4"}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table surface in front of the base board."}, {"label": "subtasks", "start_step": 952, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small positional adjustments of the fingers and wrist to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder upward off the dark table surface."}, {"label": "goal", "start_step": 1016, "end_step": 1130, "id": "330b090b-5b8f-43ac-8292-e7831d020773"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand transports the white hexagonal cylinder upward toward the purple vertical rod mounted on the light wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns and fits the white hexagonal cylinder onto the purple vertical rod on the light wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal cylinder fitted on the purple vertical rod without observable movement."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple rod on the wooden base, opening fingers to release contact with the block."}, {"label": "goal", "start_step": 1131, "end_step": 1215, "id": "494e995d-3a0a-4850-91d6-7d9033472391"}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward toward the left green square block on the dark table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the left green square block on the table, adjusting finger positions and closing fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand holds the green block and lifts it upward until the block fully leaves the dark table surface."}, {"label": "goal", "start_step": 1216, "end_step": 1360, "id": "751eb70d-e10a-431d-aabe-3e787e00c9d1"}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted green block upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1282, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green block assembled on the purple rod without visible movement."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the green holed block and moves it downward to place it onto the purple peg on the wooden pegboard, until the block is supported by the peg."}, {"label": "goal", "start_step": 1361, "end_step": 1485, "id": "ce62ef84-249b-492f-a775-2d8b65be63ca"}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green holed block seated on the purple peg, fully separating from the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward with empty fingers toward the white hexagonal holed block on the black work surface, approaching the target block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal holed block on the work surface, adjusting finger positions to form a stable grasp while the block rests on the surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal holed block upward, moving the block completely off the work surface."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand holds the white hexagonal block, moving upward and leftward to position the block above the purple rod on the wooden stacking base."}, {"label": "goal", "start_step": 1486, "end_step": 1575, "id": "e967f82d-9faa-4f69-ab2f-d9b2b15ffd50"}, {"label": "subtasks", "start_step": 1522, "end_step": 1574, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align it with the purple rod, lowering the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves in a smooth downward-right arc from the top of the stacked wooden peg assembly toward the white hexagonal block on the dark table surface adjacent to the assembly, holding fingers open as it approaches the block."}, {"label": "goal", "start_step": 1576, "end_step": 1755, "id": "af5bed94-ba16-48ba-aef8-690c26077209"}, {"label": "subtasks", "start_step": 1650, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the contacted white hexagonal block, making small adjustments to finger and wrist position to establish a stable grip, while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand moves vertically upward while maintaining grip on the white hexagonal block, lifting the block fully away from contact with the dark table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand holds the white cylindrical block and moves it upward toward the purple rod on the wooden base."}, {"label": "goal", "start_step": 1756, "end_step": 1830, "id": "add76a8a-7493-488f-bc63-f98584496e18"}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod on the wooden base and fits the block down onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white cylindrical block fitted on the purple rod."}, {"label": "goal", "start_step": 1831, "end_step": 1930, "id": "c7d0ac6a-dfbd-4363-b7e2-39c04330c644"}, {"label": "subtasks", "start_step": 1845, "end_step": 1881, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1882, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making small adjustments to form a grip while the nut stays on the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hollow cylindrical object on the black table surface without moving."}, {"label": "goal", "start_step": 1931, "end_step": 2090, "id": "d934bcfb-c2da-43fb-8b01-7bcba9654b66"}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical object off the table surface, moving it upward and leftward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the hole of the white hollow cylindrical object with the purple rod, moving the object downward to sleeve it onto the rod until it rests on the supporting base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2084, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hollow cylindrical object sleeved on the purple rod without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the white cylindrical block and lowers it downward to place it onto the purple vertical rod on the wooden block base, until the block is supported by the rod."}, {"label": "goal", "start_step": 2091, "end_step": 2205, "id": "b9c5992b-0a85-4846-b8e4-5add687a6d40"}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the placed white cylindrical block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty in the down-right direction toward the green square block resting on the black table surface, approaching the block until the index finger makes contact."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the green square block on the table, adjusting finger contact positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2204, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand maintains grip on the green square block and lifts it upward, raising the block completely off the black table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2257, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand holds the green cylindrical block, lifts it off the dark table surface and moves it upward toward the bottle stack on the light wooden base."}, {"label": "goal", "start_step": 2206, "end_step": 2455, "id": "a20023e8-8afd-405a-bebb-6adfcc369fd7"}, {"label": "subtasks", "start_step": 2258, "end_step": 2437, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand makes small positional and slight rotational adjustments to the held green cylindrical block to align it for nesting onto the top of the purple-capped white bottle in the stack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the aligned green cylindrical block onto the top of the target bottle until stably supported, opening fingers to release contact with the block."}, {"label": "home", "start_step": 2484, "end_step": 2513, "id": "WvxHeYKIaDgR0L6qghHCU"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 127, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from its initial upper right position downward and leftward toward the green hexagonal block adjacent to the wooden block base, with fingers kept open, remaining empty as it approaches the target block."}, {"label": "subtasks", "start_step": 128, "end_step": 164, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table surface, making small finger and wrist adjustments to establish a firm grasp on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no visible movement of the hand, fingers or the grasped block."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp around the green hexagonal block resting on the dark work surface."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark work surface and moves it upward to position it above the purple assembly peg."}, {"label": "subtasks", "start_step": 255, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the green hexagonal block to align with the purple assembly peg, slides the block down the peg to fit onto the assembly."}, {"label": "subtasks", "start_step": 390, "end_step": 404, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the green hexagonal block and moves it downward to place it onto the leftmost purple peg of the wooden assembly base."}, {"label": "subtasks", "start_step": 405, "end_step": 427, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block that rests on the purple peg."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward empty toward the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 458, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its finger positions and closes fingers around the leftmost white hexagonal block on the table to form a grip."}, {"label": "subtasks", "start_step": 525, "end_step": 547, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface and lifts the block upward until it fully separates from the table."}, {"label": "subtasks", "start_step": 548, "end_step": 577, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to the position directly above the target purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, slides the block down the rod, and presses the block gently to seat it on the green base block with small grip adjustments during movement."}, {"label": "subtasks", "start_step": 645, "end_step": 689, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the green base over the purple rod, releasing the block as it becomes fully supported."}, {"label": "subtasks", "start_step": 690, "end_step": 727, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward to approach the leftmost white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block, making small positional adjustments of the fingers to establish firm contact with the block."}, {"label": "subtasks", "start_step": 772, "end_step": 809, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the dark table surface and transports it upward to position the object directly above an empty purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 810, "end_step": 921, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal object with the empty purple peg on the wooden assembly rack and lowers the object to fit onto the peg, making small adjustments to seat the object properly."}, {"label": "subtasks", "start_step": 922, "end_step": 951, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table surface in front of the base board."}, {"label": "subtasks", "start_step": 952, "end_step": 1004, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small positional adjustments of the fingers and wrist to form a stable grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder upward off the dark table surface."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand transports the white hexagonal cylinder upward toward the purple vertical rod mounted on the light wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns and fits the white hexagonal cylinder onto the purple vertical rod on the light wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1124, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal cylinder fitted on the purple vertical rod without observable movement."}, {"label": "subtasks", "start_step": 1125, "end_step": 1147, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple rod on the wooden base, opening fingers to release contact with the block."}, {"label": "subtasks", "start_step": 1148, "end_step": 1177, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward toward the left green square block on the dark table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the left green square block on the table, adjusting finger positions and closing fingers to establish a grip on the block."}, {"label": "subtasks", "start_step": 1215, "end_step": 1244, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand holds the green block and lifts it upward until the block fully leaves the dark table surface."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted green block upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and fits the block onto the rod."}, {"label": "subtasks", "start_step": 1282, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green block assembled on the purple rod without visible movement."}, {"label": "subtasks", "start_step": 1350, "end_step": 1364, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the green holed block and moves it downward to place it onto the purple peg on the wooden pegboard, until the block is supported by the peg."}, {"label": "subtasks", "start_step": 1365, "end_step": 1379, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green holed block seated on the purple peg, fully separating from the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward with empty fingers toward the white hexagonal holed block on the black work surface, approaching the target block."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal holed block on the work surface, adjusting finger positions to form a stable grasp while the block rests on the surface."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal holed block upward, moving the block completely off the work surface."}, {"label": "subtasks", "start_step": 1485, "end_step": 1521, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand holds the white hexagonal block, moving upward and leftward to position the block above the purple rod on the wooden stacking base."}, {"label": "subtasks", "start_step": 1522, "end_step": 1574, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align it with the purple rod, lowering the block to fit it onto the rod."}, {"label": "subtasks", "start_step": 1575, "end_step": 1649, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves in a smooth downward-right arc from the top of the stacked wooden peg assembly toward the white hexagonal block on the dark table surface adjacent to the assembly, holding fingers open as it approaches the block."}, {"label": "subtasks", "start_step": 1650, "end_step": 1731, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the contacted white hexagonal block, making small adjustments to finger and wrist position to establish a stable grip, while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 1732, "end_step": 1754, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand moves vertically upward while maintaining grip on the white hexagonal block, lifting the block fully away from contact with the dark table surface."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand holds the white cylindrical block and moves it upward toward the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod on the wooden base and fits the block down onto the rod."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white cylindrical block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1881, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1882, "end_step": 1919, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making small adjustments to form a grip while the nut stays on the table."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hollow cylindrical object on the black table surface without moving."}, {"label": "subtasks", "start_step": 1942, "end_step": 1971, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical object off the table surface, moving it upward and leftward to the position directly above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1972, "end_step": 2001, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the hole of the white hollow cylindrical object with the purple rod, moving the object downward to sleeve it onto the rod until it rests on the supporting base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2084, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hollow cylindrical object sleeved on the purple rod without moving."}, {"label": "subtasks", "start_step": 2085, "end_step": 2107, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the white cylindrical block and lowers it downward to place it onto the purple vertical rod on the wooden block base, until the block is supported by the rod."}, {"label": "subtasks", "start_step": 2108, "end_step": 2121, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the placed white cylindrical block, separating the fingers from the block surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2159, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty in the down-right direction toward the green square block resting on the black table surface, approaching the block until the index finger makes contact."}, {"label": "subtasks", "start_step": 2160, "end_step": 2197, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the green square block on the table, adjusting finger contact positions to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2198, "end_step": 2204, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand maintains grip on the green square block and lifts it upward, raising the block completely off the black table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2257, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand holds the green cylindrical block, lifts it off the dark table surface and moves it upward toward the bottle stack on the light wooden base."}, {"label": "subtasks", "start_step": 2258, "end_step": 2437, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand makes small positional and slight rotational adjustments to the held green cylindrical block to align it for nesting onto the top of the purple-capped white bottle in the stack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the aligned green cylindrical block onto the top of the target bottle until stably supported, opening fingers to release contact with the block."}], "episode_index": 26}
+{"source_uid": "3d3a9f0050faa20c", "num_frames": 2424, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_hand: Left hand moves upward and leftward with empty hand, fingers kept extended. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left front of the wooden board, with empty hand."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "931aa604-4a7c-4252-a6a7-c6d1b295105d"}, {"label": "valid", "start_step": 0, "end_step": 2392, "id": "sj9iGn3ugKFnov4b9zwV-"}, {"label": "subtasks", "start_step": 30, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left front of the wooden board, with empty hand."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward from the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the table, with fingers closing to form a stable grip while the block stays on the table surface."}, {"label": "goal", "start_step": 153, "end_step": 288, "id": "e96112a3-7fea-492f-a621-8ffde089199f"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and moves it to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple peg of the wooden base, moving downward to fit the block's hole onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand fits and adjusts blocks onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 289, "end_step": 608, "id": "0675f9c6-80ec-4f24-adf6-18fbfe22d8e5"}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the black table."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the black table with fingers closing."}, {"label": "goal", "start_step": 609, "end_step": 712, "id": "2408f88f-03f4-40bd-9b34-e0b768720031"}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward to the position above the purple peg on the peg board."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg by aligning and lowering it down the peg."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the left purple peg on the wooden base and releases it."}, {"label": "goal", "start_step": 713, "end_step": 864, "id": "c288e16b-df4d-495b-bf04-9c892ebe3422"}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hex ring on the left side of the work surface."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hex ring on the work surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hex ring on the work surface without moving."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hex ring upward from the work surface."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it upward to the position above the target peg on the wooden base."}, {"label": "goal", "start_step": 865, "end_step": 952, "id": "d39b6ddc-461d-47c0-893f-9ea04642c1e8"}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the leftmost purple peg."}, {"label": "goal", "start_step": 953, "end_step": 1040, "id": "200862a8-3025-4aa4-acc3-a7f1381140f8"}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the leftmost purple peg and moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1041, "end_step": 1120, "id": "7adde160-5b77-4131-8d32-c5a576d273a1"}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table surface and transports it upward to the position above the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto a purple peg by aligning the block's hole with the peg and lowering the block downward."}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white hexagonal holed block onto the purple vertical peg and releases its grip on the block."}, {"label": "goal", "start_step": 1121, "end_step": 1240, "id": "487967d4-437f-4d95-b8b6-45f3f28e13df"}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal holed block on the dark table surface without making contact."}, {"label": "subtasks", "start_step": 1200, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal holed block on the dark table surface."}, {"label": "goal", "start_step": 1241, "end_step": 1384, "id": "24dca6c5-81f8-49e6-9445-2c09ce3d60d7"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the white peg, lowering it until the block rests on the lower section of the peg."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1385, "end_step": 1472, "id": "512ea83d-9da9-4081-adf4-acbc675fc031"}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylinder on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1473, "end_step": 1584, "id": "89d4815f-a7f8-481d-9d95-e5813255bd06"}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it upward and leftward to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and fits it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal sleeve onto the green post of the central block set and releases it."}, {"label": "goal", "start_step": 1585, "end_step": 1720, "id": "3acd1e8d-1578-41b7-b3ac-77487d225f50"}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal sleeve on the table near the central block set."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal sleeve on the table near the central block set, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1702, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal sleeve off the table and moves it leftward."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal column on the table to the right of the wooden base, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 1721, "end_step": 1816, "id": "fc531514-b2c0-43ee-a741-656a0e721ac8"}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal column off the table and transports it upward and leftward to the position directly above the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal column onto the purple rod by aligning the hole with the rod and lowering the column downward along the rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base, with fingers opening from a closed position."}, {"label": "goal", "start_step": 1817, "end_step": 1904, "id": "6c906c14-2e51-4ec3-b519-1ec9d30742ea"}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table, moving downward from the wooden base area."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white cubic object on the table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1905, "end_step": 2000, "id": "42621a08-0a5c-4727-bb3b-02627fea4cd5"}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic object off the table and transports it toward the wooden rack with stacked blocks."}, {"label": "subtasks", "start_step": 1958, "end_step": 2024, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white cubic object with the purple rod on the wooden rack and inserts it to complete the assembly."}, {"label": "goal", "start_step": 2001, "end_step": 2120, "id": "41e58c62-d821-492b-ab74-6c7824bed2cb"}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches towards the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp_lift: Right hand grasps the green cube on the dark table surface and lifts it slightly off the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 2121, "end_step": 2224, "id": "5acfce83-e471-45a3-bb1b-22334ba25136"}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block off the table and transports it upward and leftward toward the white block tray."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the white post on the tray and lowers it onto the top of the post."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green hollow block downward along the white post to push it into place."}, {"label": "home", "start_step": 2393, "end_step": 2423, "id": "SfCjoyLjXgkO4DObun7aQ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_hand: Left hand moves upward and leftward with empty hand, fingers kept extended. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left front of the wooden board, with empty hand."}, {"label": "subtasks", "start_step": 30, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left front of the wooden board, with empty hand."}, {"label": "subtasks", "start_step": 112, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip slightly."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward from the table surface."}, {"label": "subtasks", "start_step": 150, "end_step": 164, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the table, with fingers closing to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and moves it to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple peg of the wooden base, moving downward to fit the block's hole onto the peg."}, {"label": "subtasks", "start_step": 225, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the leftmost purple peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 509, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand fits and adjusts blocks onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 510, "end_step": 561, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the black table."}, {"label": "subtasks", "start_step": 562, "end_step": 621, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the black table with fingers closing."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward to the position above the purple peg on the peg board."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg by aligning and lowering it down the peg."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 741, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the left purple peg on the wooden base and releases it."}, {"label": "subtasks", "start_step": 742, "end_step": 779, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hex ring on the left side of the work surface."}, {"label": "subtasks", "start_step": 780, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hex ring on the work surface, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hex ring on the work surface without moving."}, {"label": "subtasks", "start_step": 848, "end_step": 854, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hex ring upward from the work surface."}, {"label": "subtasks", "start_step": 855, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it upward to the position above the target peg on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 930, "end_step": 944, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the peg without moving."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 960, "end_step": 997, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the leftmost purple peg and moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1035, "end_step": 1057, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table surface and transports it upward to the position above the purple pegs on the wooden base."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto a purple peg by aligning the block's hole with the peg and lowering the block downward."}, {"label": "subtasks", "start_step": 1110, "end_step": 1161, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white hexagonal holed block onto the purple vertical peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal holed block on the dark table surface without making contact."}, {"label": "subtasks", "start_step": 1200, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal holed block on the dark table surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the white peg on the wooden base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1371, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the white peg, lowering it until the block rests on the lower section of the peg."}, {"label": "subtasks", "start_step": 1372, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1417, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1418, "end_step": 1439, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylinder on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1492, "end_step": 1514, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it upward and leftward to the area above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and fits it down onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1545, "end_step": 1574, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the purple rod without moving."}, {"label": "subtasks", "start_step": 1575, "end_step": 1627, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal sleeve onto the green post of the central block set and releases it."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal sleeve on the table near the central block set."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal sleeve on the table near the central block set, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1702, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal sleeve off the table and moves it leftward."}, {"label": "subtasks", "start_step": 1710, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal column on the table to the right of the wooden base, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal column off the table and transports it upward and leftward to the position directly above the purple rod."}, {"label": "subtasks", "start_step": 1755, "end_step": 1814, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal column onto the purple rod by aligning the hole with the rod and lowering the column downward along the rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1837, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base, with fingers opening from a closed position."}, {"label": "subtasks", "start_step": 1838, "end_step": 1874, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table, moving downward from the wooden base area."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}, {"label": "subtasks", "start_step": 1905, "end_step": 1927, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white cubic object on the table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1928, "end_step": 1957, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic object off the table and transports it toward the wooden rack with stacked blocks."}, {"label": "subtasks", "start_step": 1958, "end_step": 2024, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white cubic object with the purple rod on the wooden rack and inserts it to complete the assembly."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches towards the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp_lift: Right hand grasps the green cube on the dark table surface and lifts it slightly off the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 2130, "end_step": 2159, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block off the table and transports it upward and leftward toward the white block tray."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the white post on the tray and lowers it onto the top of the post."}, {"label": "subtasks", "start_step": 2190, "end_step": 2234, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green hollow block downward along the white post to push it into place."}], "episode_index": 27}
+{"source_uid": "c79cbb2da34eb8e0", "num_frames": 2435, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube at the front left of the wooden base on the table."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "9cc400e9-b973-42fd-8b5f-ec0c9b5d2c5d"}, {"label": "valid", "start_step": 0, "end_step": 2402, "id": "6R7MfUyPxTaBsmdz-FRHD"}, {"label": "subtasks", "start_step": 112, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the green cube at the front left of the wooden base."}, {"label": "goal", "start_step": 181, "end_step": 325, "id": "83a99b43-4c52-4c28-aa44-faf6f1f383e9"}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green block vertically away from the black tabletop."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block upward to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 326, "end_step": 495, "id": "517b3c19-82fd-42f2-a3f0-1fe67afc4b6e"}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it to above the purple peg on the wooden base."}, {"label": "goal", "start_step": 496, "end_step": 615, "id": "92938ec9-b6a6-401f-a64f-194b5796ff49"}, {"label": "subtasks", "start_step": 525, "end_step": 614, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "goal", "start_step": 616, "end_step": 775, "id": "51009226-4695-4151-8a4c-8f6e92e42909"}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand approaches the white hexagonal block, fingers close to establish grasp on the block."}, {"label": "goal", "start_step": 776, "end_step": 970, "id": "01bd3a9c-c0d8-4961-a91a-2cf2113a309c"}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 997, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "goal", "start_step": 971, "end_step": 1070, "id": "6f2c03e6-faff-4ff6-ae82-bc647fd9e149"}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the white cylindrical block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "goal", "start_step": 1071, "end_step": 1240, "id": "19cf56a2-79d4-482f-b207-28f8da2ed24e"}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block up away from the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white block to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1241, "end_step": 1345, "id": "c6c2706c-82b0-4f6b-b52a-84caf3736d3f"}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table surface."}, {"label": "goal", "start_step": 1346, "end_step": 1450, "id": "1e750d6c-b258-4db8-a833-9ddb52e16334"}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the white post on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white post and fits it down onto the post to complete assembly."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block that is fitted on the white post without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1451, "end_step": 1555, "id": "5b1c574c-f00b-462c-8d9b-1ca3afbe6c75"}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1500, "end_step": 1567, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the black tabletop."}, {"label": "goal", "start_step": 1556, "end_step": 1655, "id": "67ad79f6-d680-4fe3-91c9-02400be61b1a"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylinder completely off the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the held white cylinder toward the target peg on the wooden base with blocks."}, {"label": "subtasks", "start_step": 1598, "end_step": 1649, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cylinder onto the target peg and adjusts it to be stably positioned on the peg."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the top of the green block on the wooden base plate."}, {"label": "goal", "start_step": 1656, "end_step": 1775, "id": "0a86422c-2f56-46d5-a5de-a48bd2ba33b9"}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white cylindrical sleeve placed on the black table next to the wooden base plate."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical sleeve on the black table."}, {"label": "goal", "start_step": 1776, "end_step": 1900, "id": "3ebddcc6-ebf1-47b6-b8f5-be274a95244e"}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object placed on the purple rod."}, {"label": "goal", "start_step": 1901, "end_step": 2010, "id": "5bba3396-c80c-436c-a36c-ba3f770485a8"}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hollow cylindrical block on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical block on the table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2011, "end_step": 2110, "id": "69503bc0-34ec-4b90-9f6f-6ea1eb984a02"}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden block rack at the center of the frame."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the wooden block rack without moving."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the small cylindrical part on the top of the white block on the wooden tray and releases its grip."}, {"label": "goal", "start_step": 2111, "end_step": 2215, "id": "d7abdda5-4225-4a07-8154-336dab69ad47"}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green cubic block on the dark table surface."}, {"label": "goal", "start_step": 2216, "end_step": 2360, "id": "71a67198-5f7f-4613-ac62-0d38d2963757"}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic object off the table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic object towards the white cylinder rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic object onto the top of the target white cylinder on the wooden rack."}, {"label": "home", "start_step": 2403, "end_step": 2434, "id": "-xzXipIUNZ2L-pNbhAYco"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube at the front left of the wooden base on the table."}, {"label": "subtasks", "start_step": 112, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the green cube at the front left of the wooden base."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green block vertically away from the black tabletop."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block upward to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 240, "end_step": 314, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it down onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 315, "end_step": 404, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 449, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the desktop."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 525, "end_step": 614, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 615, "end_step": 659, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 660, "end_step": 697, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 698, "end_step": 787, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand approaches the white hexagonal block, fingers close to establish grasp on the block."}, {"label": "subtasks", "start_step": 788, "end_step": 809, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 810, "end_step": 997, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it onto the rod."}, {"label": "subtasks", "start_step": 998, "end_step": 1034, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the white cylindrical block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1094, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1095, "end_step": 1109, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block up away from the table surface."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white block to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple peg and inserts it down onto the peg."}, {"label": "subtasks", "start_step": 1162, "end_step": 1229, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1349, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the white post on the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white post and fits it down onto the post to complete assembly."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block that is fitted on the white post without moving."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block placed on the black tabletop."}, {"label": "subtasks", "start_step": 1500, "end_step": 1567, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the black tabletop."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylinder completely off the black table surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the held white cylinder toward the target peg on the wooden base with blocks."}, {"label": "subtasks", "start_step": 1598, "end_step": 1649, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cylinder onto the target peg and adjusts it to be stably positioned on the peg."}, {"label": "subtasks", "start_step": 1650, "end_step": 1694, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the top of the green block on the wooden base plate."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white cylindrical sleeve placed on the black table next to the wooden base plate."}, {"label": "subtasks", "start_step": 1748, "end_step": 1791, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical sleeve on the black table."}, {"label": "subtasks", "start_step": 1792, "end_step": 1829, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1860, "end_step": 1911, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object placed on the purple rod."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hollow cylindrical block on the table."}, {"label": "subtasks", "start_step": 1950, "end_step": 2024, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical block on the table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden block rack at the center of the frame."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the target peg on the wooden block rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the wooden block rack without moving."}, {"label": "subtasks", "start_step": 2100, "end_step": 2121, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the small cylindrical part on the top of the white block on the wooden tray and releases its grip."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2175, "end_step": 2234, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 2235, "end_step": 2249, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic object off the table surface."}, {"label": "subtasks", "start_step": 2250, "end_step": 2271, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic object towards the white cylinder rack."}, {"label": "subtasks", "start_step": 2272, "end_step": 2369, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic object onto the top of the target white cylinder on the wooden rack."}], "episode_index": 28}
+{"source_uid": "e7e8382715911292", "num_frames": 2178, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves leftward and downward from its initial raised position on the right side toward the green hexagonal block on the table in front of the wooden assembly base, with fingers held open during the movement."}, {"label": "goal", "start_step": 0, "end_step": 150, "id": "fc1ed4d0-8963-4848-b9ba-b4bf9e6d5ad5"}, {"label": "valid", "start_step": 0, "end_step": 2146, "id": "gUpK69Yt_f2hHzTSrubet"}, {"label": "subtasks", "start_step": 82, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table in front of the wooden assembly base, making slight adjustments to finger and wrist positions to establish a grip, with the block remaining on the table surface."}, {"label": "goal", "start_step": 151, "end_step": 305, "id": "7c6c2cee-76c2-4249-a0c1-8b2b25e5653c"}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is fully lifted off the black table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport_mate: Right hand carries the lifted green hexagonal block over to the wooden base, aligns the block's central hole with the left purple peg, and slides the block down onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 218, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the fitted green hexagonal block on the left purple peg of the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 300, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves downward to place the block onto the purple peg on the wooden base, opening fingers to release the block once it is supported by the base."}, {"label": "goal", "start_step": 306, "end_step": 460, "id": "5911b3a2-381a-4daf-97f6-77fa0cc39cc8"}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block resting on the dark table surface, approaching the target object without establishing contact."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger and wrist positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black tabletop and lifts it upward until the nut is fully separated from the table surface."}, {"label": "goal", "start_step": 461, "end_step": 580, "id": "83fe4ab5-b71f-4a20-8ced-7b77c2e764b2"}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward to the position directly above the purple assembly rod on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and slides the nut down the rod to complete the fitting."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple rod without observable movement or adjustment."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden assembly base and moves it downward to fit onto the rod."}, {"label": "goal", "start_step": 581, "end_step": 695, "id": "97cff107-85a6-4332-9379-c583b484dd03"}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward empty away from the wooden base, approaching the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closing and adjusting fingers to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut on the dark table surface, closes fingers to grasp the nut while the nut stays on the table."}, {"label": "goal", "start_step": 696, "end_step": 800, "id": "d098fd3f-af2b-4700-9341-73fddc9dc99e"}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moves it upward to position it directly above the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, lowers the nut to fit it onto the post for nesting assembly."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place: Right hand holds the white hexagonal block and moves downward to place it onto the green block on the leftmost peg of the wooden base, until the block is stably supported by the green block."}, {"label": "goal", "start_step": 801, "end_step": 960, "id": "7a709d04-468b-4051-a936-f4e62f2ad560"}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty in a downward-right direction toward the white hexagonal block placed on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 981, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes fine adjustments to finger positions, closing fingers around the target white hexagonal block on the table, with continuous small wrist and finger movements to adjust contact points for a stable grasp."}, {"label": "goal", "start_step": 961, "end_step": 1060, "id": "edf69a15-d876-4171-9b2a-93e0e49d94f0"}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it to a position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base and lowers it to fit securely onto the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to set the block onto the purple rod on the wooden base, and opens fingers to release grip on the block."}, {"label": "goal", "start_step": 1061, "end_step": 1180, "id": "d13b4ef0-e7e7-4694-8024-17ffa76dea72"}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions to close around the block to form a grip."}, {"label": "goal", "start_step": 1181, "end_step": 1275, "id": "8404b3bb-a228-4019-946b-b8cd9af371c1"}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and lowers the block to slide it onto the rod until it contacts the white component below."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand lowers the held green hexagonal block to seat it on the stacked blocks mounted on the wooden peg base, opening fingers to release the supported block."}, {"label": "goal", "start_step": 1276, "end_step": 1385, "id": "2e7f52c6-3945-4cb4-8c5f-dd5d94530ac2"}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves in an empty state downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block positioned on the table, adjusting finger contact points to form a grip on the block."}, {"label": "goal", "start_step": 1386, "end_step": 1495, "id": "dce80bbe-9bc7-4a4d-a3d0-1b1f667be2a6"}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward toward the wooden assembly base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod on the assembly base and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand releases the white hexagonal block on top of the stacked blocks, fingers opening to separate from the block."}, {"label": "goal", "start_step": 1496, "end_step": 1585, "id": "766ed3c2-7eea-498f-a0ba-04c9f1c4c8ad"}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and to the right toward the white hexagonal block adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block adjacent to the wooden block base, adjusting finger positions to form a grip."}, {"label": "goal", "start_step": 1586, "end_step": 1675, "id": "1523fb42-78b1-466c-9483-d4850020a702"}, {"label": "subtasks", "start_step": 1598, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and moves it downward to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate_release: Right hand holds the white hexagonal block, fits it onto the purple rod on the wooden base, and opens fingers to release the block."}, {"label": "goal", "start_step": 1676, "end_step": 1785, "id": "873a508b-1f63-4a2b-bc87-498ddc4f0206"}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand moves the grasped white hexagonal block upward to lift it off the table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand holds the small white cylindrical part and moves it upward and left toward the empty hole on the wooden block rack."}, {"label": "goal", "start_step": 1786, "end_step": 1885, "id": "d372563d-77b5-4312-8c6d-a869bca533f1"}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the small white cylindrical part with the empty hole on the wooden rack and inserts it into the hole."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the inserted white cylindrical part on the wooden rack without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand releases the light purple cylinder on the wooden rack, fingers open and separate from the cylinder."}, {"label": "goal", "start_step": 1886, "end_step": 1985, "id": "295f5fdf-adb4-4aae-882c-9819610680d4"}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the green cube, fingers adjust positions around the cube to form a stable grasp."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the gripped green block vertically upward from the dark gray table surface."}, {"label": "goal", "start_step": 1986, "end_step": 2115, "id": "5cd03a7b-6980-4d0e-b625-9aa1d5b627cb"}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand transports the green block upward and leftward toward the group of bottles placed on the light wooden tray."}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the hollow green block with the top of the bottle with a purple pump, adjusting position to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand places the green block onto the top of the target bottle with fingers opening to release the block."}, {"label": "home", "start_step": 2147, "end_step": 2177, "id": "58NFUHu9Hi2syKsFTKDYE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves leftward and downward from its initial raised position on the right side toward the green hexagonal block on the table in front of the wooden assembly base, with fingers held open during the movement."}, {"label": "subtasks", "start_step": 82, "end_step": 171, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table in front of the wooden assembly base, making slight adjustments to finger and wrist positions to establish a grip, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is fully lifted off the black table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport_mate: Right hand carries the lifted green hexagonal block over to the wooden base, aligns the block's central hole with the left purple peg, and slides the block down onto the peg to complete fitting."}, {"label": "subtasks", "start_step": 218, "end_step": 299, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the fitted green hexagonal block on the left purple peg of the wooden base without any observable movement."}, {"label": "subtasks", "start_step": 300, "end_step": 374, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves downward to place the block onto the purple peg on the wooden base, opening fingers to release the block once it is supported by the base."}, {"label": "subtasks", "start_step": 375, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block resting on the dark table surface, approaching the target object without establishing contact."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger and wrist positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black tabletop and lifts it upward until the nut is fully separated from the table surface."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward to the position directly above the purple assembly rod on the wooden base."}, {"label": "subtasks", "start_step": 495, "end_step": 547, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and slides the nut down the rod to complete the fitting."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple rod without observable movement or adjustment."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden assembly base and moves it downward to fit onto the rod."}, {"label": "subtasks", "start_step": 622, "end_step": 651, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward empty away from the wooden base, approaching the white hexagonal block placed on the dark table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closing and adjusting fingers to establish a firm grip on the block."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut on the dark table surface, closes fingers to grasp the nut while the nut stays on the table."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moves it upward to position it directly above the purple post on the wooden block base."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, lowers the nut to fit it onto the post for nesting assembly."}, {"label": "subtasks", "start_step": 795, "end_step": 824, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place: Right hand holds the white hexagonal block and moves downward to place it onto the green block on the leftmost peg of the wooden base, until the block is stably supported by the green block."}, {"label": "subtasks", "start_step": 825, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty in a downward-right direction toward the white hexagonal block placed on the table surface in front of the wooden base."}, {"label": "subtasks", "start_step": 862, "end_step": 981, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes fine adjustments to finger positions, closing fingers around the target white hexagonal block on the table, with continuous small wrist and finger movements to adjust contact points for a stable grasp."}, {"label": "subtasks", "start_step": 982, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it to a position directly above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base and lowers it to fit securely onto the peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1094, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to set the block onto the purple rod on the wooden base, and opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the green hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1184, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions to close around the block to form a grip."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it directly above the purple vertical rod on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and lowers the block to slide it onto the rod until it contacts the white component below."}, {"label": "subtasks", "start_step": 1252, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple vertical rod without any observable movement."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand lowers the held green hexagonal block to seat it on the stacked blocks mounted on the wooden peg base, opening fingers to release the supported block."}, {"label": "subtasks", "start_step": 1312, "end_step": 1349, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves in an empty state downward toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1350, "end_step": 1401, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block positioned on the table, adjusting finger contact points to form a grip on the block."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward toward the wooden assembly base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod on the assembly base and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any visible movement of the hand or the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand releases the white hexagonal block on top of the stacked blocks, fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1508, "end_step": 1544, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and to the right toward the white hexagonal block adjacent to the wooden block base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1597, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block adjacent to the wooden block base, adjusting finger positions to form a grip."}, {"label": "subtasks", "start_step": 1598, "end_step": 1641, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod mounted on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and moves it downward to fit the nut onto the rod."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate_release: Right hand holds the white hexagonal block, fits it onto the purple rod on the wooden base, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1702, "end_step": 1747, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward to approach the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1769, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1784, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand moves the grasped white hexagonal block upward to lift it off the table surface."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand holds the small white cylindrical part and moves it upward and left toward the empty hole on the wooden block rack."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the small white cylindrical part with the empty hole on the wooden rack and inserts it into the hole."}, {"label": "subtasks", "start_step": 1852, "end_step": 1874, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the inserted white cylindrical part on the wooden rack without moving."}, {"label": "subtasks", "start_step": 1875, "end_step": 1897, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand releases the light purple cylinder on the wooden rack, fingers open and separate from the cylinder."}, {"label": "subtasks", "start_step": 1898, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the green cube, fingers adjust positions around the cube to form a stable grasp."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the gripped green block vertically upward from the dark gray table surface."}, {"label": "subtasks", "start_step": 2010, "end_step": 2039, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand transports the green block upward and leftward toward the group of bottles placed on the light wooden tray."}, {"label": "subtasks", "start_step": 2040, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the hollow green block with the top of the bottle with a purple pump, adjusting position to fit the block onto the bottle."}, {"label": "subtasks", "start_step": 2115, "end_step": 2129, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand places the green block onto the top of the target bottle with fingers opening to release the block."}], "episode_index": 29}
+{"source_uid": "beb8831cfe7900e3", "num_frames": 2356, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_arm: Left hand raises upward with empty hand from the left initial position. | Right hand: reach: Right hand moves toward the green hexagonal block on the table near the wooden pegboard with empty hand."}, {"label": "goal", "start_step": 0, "end_step": 180, "id": "9bc6c052-3ed3-43bf-be78-1ad08e62671c"}, {"label": "valid", "start_step": 0, "end_step": 2324, "id": "rPd4AKa2wslOB-7XiuvWP"}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the table near the wooden pegboard with empty hand."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table in front of the wooden board."}, {"label": "goal", "start_step": 181, "end_step": 285, "id": "a5e00727-39d5-4645-8b62-796f6a6b672a"}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it to above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple peg of the wooden board by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green cubic block on the leftmost purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand fits the green hexagonal block onto the left purple vertical post and releases its grip."}, {"label": "goal", "start_step": 286, "end_step": 480, "id": "05592d7e-97b5-4c81-a6c1-d74b28b35642"}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: retreat: Right hand moves upward slightly away from the green block on the purple post."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left side of the black table."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 481, "end_step": 590, "id": "163a1991-5644-48b2-91f1-80fd84af038b"}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table while moving it upward to the position above the leftmost purple peg on the green base."}, {"label": "subtasks", "start_step": 510, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_place: Right hand fits the white hexagonal block onto the leftmost purple peg while lowering it until it is supported by the green base."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base."}, {"label": "goal", "start_step": 591, "end_step": 700, "id": "fef80349-3267-4dcf-817e-972809d55b4d"}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white hexagonal piece on the leftmost purple peg, with fingers opening."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal piece on the table, with fingers closing around it."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the left white hexagonal piece on the table without moving."}, {"label": "goal", "start_step": 701, "end_step": 820, "id": "651e534f-514d-4328-87cf-c7c8f745897a"}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it upward to the position above the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left purple peg without moving."}, {"label": "goal", "start_step": 821, "end_step": 915, "id": "bcb2ed8b-7048-49c3-8357-024b8480b5a8"}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the left purple peg while moving upward away from the peg."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table above the green block."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table above the green block with fingers closing."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table above the green block without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table, fingers closing and adjusting to form a stable grip."}, {"label": "goal", "start_step": 916, "end_step": 1205, "id": "39c6f40e-c116-4a9c-ac30-baa046139dc5"}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is fully off the dark table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1011, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the middle purple peg and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the middle purple peg and releases the block."}, {"label": "goal", "start_step": 1206, "end_step": 1320, "id": "dea770fc-428d-43ff-ac11-eeb1ad229847"}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers closing and adjusting around it."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the dark table surface."}, {"label": "goal", "start_step": 1321, "end_step": 1470, "id": "3c324cce-2020-48f8-bc62-4cecb489421e"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the green cubic block upward and leftward to the position above the vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand lowers the green cubic block and mates it onto the vertical peg of the wooden rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green cubic block on the vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple vertical post on the wooden base and releases the block."}, {"label": "goal", "start_step": 1471, "end_step": 1555, "id": "e8722d6e-3eb5-4260-90b0-93ae25dd3fa5"}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing to adjust the grip."}, {"label": "goal", "start_step": 1556, "end_step": 1675, "id": "adb61683-8de4-4816-8743-7bc183dae6c1"}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1598, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the green block's peg on the wooden base, lowering the cylinder onto the peg."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the green block's peg without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white cylindrical block on the top of the purple rod, with fingers opening gradually."}, {"label": "goal", "start_step": 1676, "end_step": 1765, "id": "5ded88f4-2419-404c-8faf-82669b7756df"}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hollow cylindrical block on the black tabletop next to the wooden base without moving."}, {"label": "goal", "start_step": 1766, "end_step": 1850, "id": "9819ab0c-db8c-44a6-8e50-ffcf99160117"}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block from the tabletop and transports it upward and leftward to the position right above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hollow cylindrical block with the purple rod by lowering it to fit the block's hole over the purple rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod of the wooden rack, with fingers opening."}, {"label": "goal", "start_step": 1851, "end_step": 1935, "id": "149201f9-501f-42e8-8afa-c754111d70b1"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1936, "end_step": 2040, "id": "301967f1-0243-44ea-be48-a8238e86c923"}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the wooden peg rack at the back of the table."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the rightmost peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white cylindrical block on the rightmost peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward from the bottle rack area toward the green cubic object on the table, without making contact with the target."}, {"label": "goal", "start_step": 2041, "end_step": 2140, "id": "0007d965-7e10-4bab-83fc-255577a19f2b"}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand makes contact with the green cubic object on the table, and adjusts its fingers to form a stable grasp."}, {"label": "goal", "start_step": 2141, "end_step": 2295, "id": "f01fa2a2-3f2b-4595-b66f-3f8cd8506e84"}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the white rack with bottles."}, {"label": "subtasks", "start_step": 2190, "end_step": 2309, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand aligns and fits the green cubic block onto the target bottle on the rack, then releases the block."}, {"label": "home", "start_step": 2325, "end_step": 2355, "id": "9_R2SV8MxVSi5bziX_Fno"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: other:raise_arm: Left hand raises upward with empty hand from the left initial position. | Right hand: reach: Right hand moves toward the green hexagonal block on the table near the wooden pegboard with empty hand."}, {"label": "subtasks", "start_step": 30, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the table near the wooden pegboard with empty hand."}, {"label": "subtasks", "start_step": 98, "end_step": 157, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 158, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table in front of the wooden board."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it to above the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple peg of the wooden board by lowering and fitting it onto the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green cubic block on the leftmost purple peg of the wooden board without moving."}, {"label": "subtasks", "start_step": 285, "end_step": 307, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand fits the green hexagonal block onto the left purple vertical post and releases its grip."}, {"label": "subtasks", "start_step": 308, "end_step": 321, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: retreat: Right hand moves upward slightly away from the green block on the purple post."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left side of the black table."}, {"label": "subtasks", "start_step": 360, "end_step": 434, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 435, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table while moving it upward to the position above the leftmost purple peg on the green base."}, {"label": "subtasks", "start_step": 510, "end_step": 584, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_place: Right hand fits the white hexagonal block onto the leftmost purple peg while lowering it until it is supported by the green base."}, {"label": "subtasks", "start_step": 585, "end_step": 607, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 621, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white hexagonal piece on the leftmost purple peg, with fingers opening."}, {"label": "subtasks", "start_step": 622, "end_step": 644, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal piece on the black table surface."}, {"label": "subtasks", "start_step": 645, "end_step": 667, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal piece on the table, with fingers closing around it."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the left white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 705, "end_step": 727, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it upward to the position above the leftmost purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 728, "end_step": 809, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden rack by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 810, "end_step": 824, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left purple peg without moving."}, {"label": "subtasks", "start_step": 825, "end_step": 839, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the left purple peg while moving upward away from the peg."}, {"label": "subtasks", "start_step": 840, "end_step": 854, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table above the green block."}, {"label": "subtasks", "start_step": 855, "end_step": 869, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table above the green block with fingers closing."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table above the green block without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 944, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table, fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 945, "end_step": 959, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is fully off the dark table surface."}, {"label": "subtasks", "start_step": 960, "end_step": 1011, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1199, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the middle purple peg and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1237, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the middle purple peg and releases the block."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1311, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers closing and adjusting around it."}, {"label": "subtasks", "start_step": 1312, "end_step": 1334, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the dark table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the green cubic block upward and leftward to the position above the vertical peg on the wooden rack."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand lowers the green cubic block and mates it onto the vertical peg of the wooden rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green cubic block on the vertical peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple vertical post on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1500, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1522, "end_step": 1567, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing to adjust the grip."}, {"label": "subtasks", "start_step": 1568, "end_step": 1597, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1598, "end_step": 1641, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the green block's peg on the wooden base, lowering the cylinder onto the peg."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the green block's peg without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white cylindrical block on the top of the purple rod, with fingers opening gradually."}, {"label": "subtasks", "start_step": 1688, "end_step": 1724, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1725, "end_step": 1754, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hollow cylindrical block on the black tabletop next to the wooden base without moving."}, {"label": "subtasks", "start_step": 1770, "end_step": 1807, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block from the tabletop and transports it upward and leftward to the position right above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1844, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hollow cylindrical block with the purple rod by lowering it to fit the block's hole over the purple rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod of the wooden rack, with fingers opening."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1949, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the wooden peg rack at the back of the table."}, {"label": "subtasks", "start_step": 1988, "end_step": 2017, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the rightmost peg of the wooden rack and fits it onto the peg."}, {"label": "subtasks", "start_step": 2018, "end_step": 2039, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white cylindrical block on the rightmost peg, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 2040, "end_step": 2084, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward from the bottle rack area toward the green cubic object on the table, without making contact with the target."}, {"label": "subtasks", "start_step": 2085, "end_step": 2159, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand makes contact with the green cubic object on the table, and adjusts its fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2160, "end_step": 2189, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the white rack with bottles."}, {"label": "subtasks", "start_step": 2190, "end_step": 2309, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand aligns and fits the green cubic block onto the target bottle on the rack, then releases the block."}], "episode_index": 30}
+{"source_uid": "1470325cdeb77963", "num_frames": 2191, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the purple rod on the central wooden base."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "77f98507-8c4a-4027-9eac-e949bb6c7abb"}, {"label": "valid", "start_step": 0, "end_step": 2156, "id": "G_7GYLBzkmp3MsJaZ7xOS"}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the purple rod on the central wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the grasped purple rod upwards."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it above the purple post on the wooden base."}, {"label": "goal", "start_step": 201, "end_step": 290, "id": "c05998f1-1977-44a1-a28a-742f7bc75c07"}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple post and inserts it partially onto the post."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple post to secure it in place."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 291, "end_step": 415, "id": "c79ddace-49f7-4612-8ce1-acbbe2e7b473"}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 345, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with slight finger adjustments to stabilize the grip."}, {"label": "goal", "start_step": 416, "end_step": 525, "id": "a1a92f43-1505-47e6-8cdd-38007ae68715"}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it onto the post."}, {"label": "goal", "start_step": 526, "end_step": 625, "id": "ad9af71a-db79-4f30-b756-cc5c895c27e7"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 626, "end_step": 760, "id": "a6f91139-0f32-4e5c-8a4b-29fc22ab4530"}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal component off the table and transports it towards the wooden peg rack at the upper center of the frame."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the white hexagonal component slightly to align it with the peg on the wooden rack."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white hexagonal component onto the aligned peg of the wooden rack."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the leftmost peg of the wooden base."}, {"label": "goal", "start_step": 761, "end_step": 870, "id": "4c764b38-a341-4b91-8cbe-014c509efa19"}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block, fingers adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the black table surface."}, {"label": "goal", "start_step": 871, "end_step": 965, "id": "4a798372-dd23-4fc1-9306-f4247754ecb3"}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 966, "end_step": 1065, "id": "5d23a408-5e8e-43af-bfe6-2fb78f8615fd"}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green block placed on the tabletop."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the tabletop with fingers closing around it."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the tabletop."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block towards the purple peg on the wooden rack."}, {"label": "goal", "start_step": 1066, "end_step": 1165, "id": "4961339c-d414-4023-9c29-9c6724eac06b"}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1207, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1166, "end_step": 1305, "id": "1fa0651a-f633-45d5-b12f-70341f7a8007"}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object off the black table surface."}, {"label": "goal", "start_step": 1306, "end_step": 1390, "id": "0b9f30ab-acd6-4fed-ad8f-1e0368901af7"}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the target post on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the target post of the wooden assembly rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical object on the wooden assembly rack without moving."}, {"label": "goal", "start_step": 1391, "end_step": 1500, "id": "3e382e2c-243c-4372-88a8-ac4dc0819201"}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the green block on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1462, "end_step": 1551, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table."}, {"label": "goal", "start_step": 1501, "end_step": 1630, "id": "d4cd0207-2d4b-437d-998e-28ef7d55ada8"}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it towards the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the purple rod on the wooden rack."}, {"label": "goal", "start_step": 1631, "end_step": 1740, "id": "2da2c973-71d1-46d9-be79-21db8b96753a"}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black table surface."}, {"label": "goal", "start_step": 1741, "end_step": 1835, "id": "de339b20-4eeb-45a5-92f8-c9966b456a81"}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and moves it towards the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod on the wooden rack and inserts it into position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 1836, "end_step": 1955, "id": "2a8e7e2c-ac43-4b5b-ac4e-3b0fb97d09b8"}, {"label": "subtasks", "start_step": 1852, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block placed on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green cubic block on the table surface."}, {"label": "goal", "start_step": 1956, "end_step": 2115, "id": "1f231a2c-e8e2-4541-bd00-97b29090557d"}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block away from the table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the rightmost white peg on the wooden base."}, {"label": "subtasks", "start_step": 2010, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white peg and fits it onto the peg to complete assembly."}, {"label": "home", "start_step": 2157, "end_step": 2190, "id": "sjsO444p2xI4JRsCID4fZ"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the purple rod on the central wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the purple rod on the central wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the grasped purple rod upwards."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple post and inserts it partially onto the post."}, {"label": "subtasks", "start_step": 248, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple post to secure it in place."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 315, "end_step": 344, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 345, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with slight finger adjustments to stabilize the grip."}, {"label": "subtasks", "start_step": 428, "end_step": 441, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 561, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it onto the post."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 585, "end_step": 651, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 652, "end_step": 674, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal component off the table and transports it towards the wooden peg rack at the upper center of the frame."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the white hexagonal component slightly to align it with the peg on the wooden rack."}, {"label": "subtasks", "start_step": 698, "end_step": 749, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white hexagonal component onto the aligned peg of the wooden rack."}, {"label": "subtasks", "start_step": 750, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block, fingers adjust to form a stable grasp."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the black table surface."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green block placed on the tabletop."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the tabletop with fingers closing around it."}, {"label": "subtasks", "start_step": 1050, "end_step": 1064, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the tabletop."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block towards the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1088, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1155, "end_step": 1207, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal block on the table and lifts it slightly off the table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object off the black table surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the target post on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1335, "end_step": 1379, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the target post of the wooden assembly rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1394, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical object on the wooden assembly rack without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the green block on the wooden base."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the right side of the table."}, {"label": "subtasks", "start_step": 1462, "end_step": 1551, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1552, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it towards the wooden rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1649, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1688, "end_step": 1761, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1784, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and moves it towards the wooden rack."}, {"label": "subtasks", "start_step": 1785, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod on the wooden rack and inserts it into position."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1852, "end_step": 1897, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block placed on the table surface."}, {"label": "subtasks", "start_step": 1898, "end_step": 1964, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block away from the table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the rightmost white peg on the wooden base."}, {"label": "subtasks", "start_step": 2010, "end_step": 2129, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white peg and fits it onto the peg to complete assembly."}], "episode_index": 31}
+{"source_uid": "75af91fa5327b649", "num_frames": 2256, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves forward and downward from its initial position, extending fingers to approach the green hexagonal block on the table in front of the wooden peg board."}, {"label": "goal", "start_step": 0, "end_step": 165, "id": "552667e2-f0e1-481e-93ca-bbbfc82f629b"}, {"label": "valid", "start_step": 0, "end_step": 2224, "id": "T7FMplxsjf67ogbYbiL3-"}, {"label": "subtasks", "start_step": 112, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, making slight adjustments to finger and wrist positions to establish contact with the block."}, {"label": "goal", "start_step": 166, "end_step": 395, "id": "27226224-2b50-4102-8d59-252cb752cf0c"}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no observable movement of the hand, fingers or the grasped block."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport_place: Right hand carries the lifted green hexagonal block to the position above the purple peg on the wooden board, then moves downward to set the block onto the peg until the block is supported by the peg."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand lowers the white hexagonal block along the purple peg on the wooden pegboard, fitting the block securely into the stacked assembly on the peg."}, {"label": "goal", "start_step": 396, "end_step": 495, "id": "7b2b67f5-5b5f-4319-ad88-0971c3d7f871"}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the pegboard area toward the loose white hexagonal block resting on the black table surface, approaching the target block without establishing contact."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface throughout the adjustment."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand grips the white hexagonal block on the black table surface, lifts it fully off the table, and carries it upward to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 496, "end_step": 640, "id": "a5d1626a-88a0-48b2-a731-3c2e234c21ce"}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, slightly adjusts the block's orientation, and lowers it to fit securely onto the rod."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and nests it onto the purple vertical post, opens fingers to release the block and separate from the assembled part."}, {"label": "goal", "start_step": 641, "end_step": 755, "id": "3930cb87-1c0a-4d9e-8ef4-2f3a0ad9cf18"}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward with empty fingers toward the front-left white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, adjusting finger positions to establish a stable grip."}, {"label": "goal", "start_step": 756, "end_step": 880, "id": "f06bd693-ce1b-48b4-a7f1-31b9dcc6f184"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table, moving it upward toward the purple assembly rod on the wooden rack."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden rack, adjusting position to fit the block onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: press_release: Right hand presses down on the upper white hexagonal block on the front purple post to seat it fully against lower blocks, fingers opening to lose contact with the block."}, {"label": "goal", "start_step": 881, "end_step": 1005, "id": "f738b0fa-07d4-4a4f-8fd6-6df01f4b13b7"}, {"label": "subtasks", "start_step": 892, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block positioned directly in front of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block, making small adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the front white hexagonal block steadily with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block resting on the black table adjacent to the wooden assembly base to form a stable grip."}, {"label": "goal", "start_step": 1006, "end_step": 1095, "id": "dba02ac5-90b6-4699-aeeb-e4eb46961ef2"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and moves it upward to a position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the fitted white hexagonal block steady on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the green hexagonal block on the adjacent table surface, staying empty before contact with the block."}, {"label": "goal", "start_step": 1096, "end_step": 1185, "id": "e288a516-1fb5-49e3-9703-e73caf1064d9"}, {"label": "subtasks", "start_step": 1148, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusts finger positions and closes fingers around the block to establish a grasp, with the block remaining on the table surface."}, {"label": "goal", "start_step": 1186, "end_step": 1300, "id": "b793f017-88d5-493b-b3de-f74cb9acc7f1"}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and moves it upward to position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block to fit onto the rod and set it onto the underlying supporting white block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block stably fitted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the green block on the purple rod of the wooden assembly, separating fingers from the block."}, {"label": "goal", "start_step": 1301, "end_step": 1410, "id": "bc9a34f0-f7b8-450b-8a1a-d31dd6f83848"}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1350, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand positions fingers around the green hexagonal block on the table and makes small adjustments to close fingers to establish a grip."}, {"label": "goal", "start_step": 1411, "end_step": 1550, "id": "818de12d-c516-4b5d-9806-adad9ec11c14"}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical block completely off the table and moves it upward toward the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the mated white cylindrical block on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1545, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens its fingers to release the white cylindrical block fitted on the purple rod."}, {"label": "goal", "start_step": 1551, "end_step": 1640, "id": "8bad8962-7bca-4fe2-a92c-aa4f95daf042"}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut near the right edge of the wooden block base, with fingers open and no contact with the nut."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a grip on the nut while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface."}, {"label": "goal", "start_step": 1641, "end_step": 1750, "id": "228ff796-2f7c-4901-9d02-5a3bb5a460f5"}, {"label": "subtasks", "start_step": 1658, "end_step": 1671, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal block upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, adjusting position slightly to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves down and right from the area above the wooden block set toward the white hexagonal object resting on the black table surface, staying empty before making contact with the target."}, {"label": "goal", "start_step": 1751, "end_step": 1835, "id": "8298763a-a49d-4890-90e2-befcb20b0a71"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal object on the table, making small positional adjustments of the fingers and wrist to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without any visible movement of the hand, fingers or the gripped object."}, {"label": "goal", "start_step": 1836, "end_step": 1960, "id": "38a0b41a-fc35-4286-840f-31887fd01f5e"}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand maintains grip on the white hollow cylinder and moves upward, lifting the cylinder completely off the dark work surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the white hollow cylinder diagonally upward through the air toward the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand slightly adjusts the position of the white hollow cylinder to align it with the empty mounting position next to the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple peg on the wooden base, opening fingers to release the block."}, {"label": "goal", "start_step": 1961, "end_step": 2055, "id": "f2c70bba-4874-4d5a-b50a-84c1ad379be1"}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and rightward toward the green cube resting on the black table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green block on the dark gray table surface with no visible movement."}, {"label": "goal", "start_step": 2056, "end_step": 2180, "id": "89e75a0c-451c-43dc-aa49-0248e4cc4590"}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves upward to lift the green block completely off the dark gray table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2121, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted green block upward and toward the wooden block rack at the center of the table."}, {"label": "subtasks", "start_step": 2122, "end_step": 2189, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the green block with the target white post on the rack and fits the block onto the post, making small positional adjustments to seat the block."}, {"label": "home", "start_step": 2225, "end_step": 2255, "id": "R8Oh_S0D4Hi7vpLwNjVPv"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves forward and downward from its initial position, extending fingers to approach the green hexagonal block on the table in front of the wooden peg board."}, {"label": "subtasks", "start_step": 112, "end_step": 239, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, making slight adjustments to finger and wrist positions to establish contact with the block."}, {"label": "subtasks", "start_step": 240, "end_step": 299, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no observable movement of the hand, fingers or the grasped block."}, {"label": "subtasks", "start_step": 300, "end_step": 321, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 322, "end_step": 351, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport_place: Right hand carries the lifted green hexagonal block to the position above the purple peg on the wooden board, then moves downward to set the block onto the peg until the block is supported by the peg."}, {"label": "subtasks", "start_step": 352, "end_step": 389, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg steadily, with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand lowers the white hexagonal block along the purple peg on the wooden pegboard, fitting the block securely into the stacked assembly on the peg."}, {"label": "subtasks", "start_step": 412, "end_step": 449, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the pegboard area toward the loose white hexagonal block resting on the black table surface, approaching the target block without establishing contact."}, {"label": "subtasks", "start_step": 450, "end_step": 494, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface throughout the adjustment."}, {"label": "subtasks", "start_step": 495, "end_step": 524, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand grips the white hexagonal block on the black table surface, lifts it fully off the table, and carries it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 525, "end_step": 591, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, slightly adjusts the block's orientation, and lowers it to fit securely onto the rod."}, {"label": "subtasks", "start_step": 592, "end_step": 629, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement or grip adjustment."}, {"label": "subtasks", "start_step": 630, "end_step": 674, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and nests it onto the purple vertical post, opens fingers to release the block and separate from the assembled part."}, {"label": "subtasks", "start_step": 675, "end_step": 711, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward with empty fingers toward the front-left white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, adjusting finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table, moving it upward toward the purple assembly rod on the wooden rack."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden rack, adjusting position to fit the block onto the rod."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: press_release: Right hand presses down on the upper white hexagonal block on the front purple post to seat it fully against lower blocks, fingers opening to lose contact with the block."}, {"label": "subtasks", "start_step": 892, "end_step": 959, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block positioned directly in front of the wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 981, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block, making small adjustments to establish a stable grip."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the front white hexagonal block steadily with no observable movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block resting on the black table adjacent to the wooden assembly base to form a stable grip."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and moves it upward to a position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1071, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg and lowers the block to fit securely onto the peg."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the fitted white hexagonal block steady on the purple peg with no observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1095, "end_step": 1147, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the green hexagonal block on the adjacent table surface, staying empty before contact with the block."}, {"label": "subtasks", "start_step": 1148, "end_step": 1207, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusts finger positions and closes fingers around the block to establish a grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 1208, "end_step": 1237, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and moves it upward to position directly above the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1238, "end_step": 1274, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block to fit onto the rod and set it onto the underlying supporting white block."}, {"label": "subtasks", "start_step": 1275, "end_step": 1289, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block stably fitted on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the green block on the purple rod of the wooden assembly, separating fingers from the block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the dark table surface, with fingers held open."}, {"label": "subtasks", "start_step": 1350, "end_step": 1454, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand positions fingers around the green hexagonal block on the table and makes small adjustments to close fingers to establish a grip."}, {"label": "subtasks", "start_step": 1455, "end_step": 1491, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical block completely off the table and moves it upward toward the purple vertical rod on the wooden block assembly."}, {"label": "subtasks", "start_step": 1492, "end_step": 1521, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1522, "end_step": 1544, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the mated white cylindrical block on the purple rod without any observable movement."}, {"label": "subtasks", "start_step": 1545, "end_step": 1551, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens its fingers to release the white cylindrical block fitted on the purple rod."}, {"label": "subtasks", "start_step": 1552, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut near the right edge of the wooden block base, with fingers open and no contact with the nut."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a grip on the nut while the nut remains on the table surface."}, {"label": "subtasks", "start_step": 1635, "end_step": 1657, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 1658, "end_step": 1671, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal block upward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, adjusting position slightly to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1740, "end_step": 1807, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves down and right from the area above the wooden block set toward the white hexagonal object resting on the black table surface, staying empty before making contact with the target."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal object on the table, making small positional adjustments of the fingers and wrist to form a stable grip on the object."}, {"label": "subtasks", "start_step": 1830, "end_step": 1859, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without any visible movement of the hand, fingers or the gripped object."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand maintains grip on the white hollow cylinder and moves upward, lifting the cylinder completely off the dark work surface."}, {"label": "subtasks", "start_step": 1875, "end_step": 1911, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the white hollow cylinder diagonally upward through the air toward the wooden block assembly stand."}, {"label": "subtasks", "start_step": 1912, "end_step": 1949, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand slightly adjusts the position of the white hollow cylinder to align it with the empty mounting position next to the purple rod on the wooden stand."}, {"label": "subtasks", "start_step": 1950, "end_step": 1971, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple peg on the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 1972, "end_step": 2017, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and rightward toward the green cube resting on the black table surface."}, {"label": "subtasks", "start_step": 2018, "end_step": 2054, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2055, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green block on the dark gray table surface with no visible movement."}, {"label": "subtasks", "start_step": 2070, "end_step": 2091, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves upward to lift the green block completely off the dark gray table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2121, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted green block upward and toward the wooden block rack at the center of the table."}, {"label": "subtasks", "start_step": 2122, "end_step": 2189, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the green block with the target white post on the rack and fits the block onto the post, making small positional adjustments to seat the block."}], "episode_index": 32}
+{"source_uid": "63b74c4f3ff46eaf", "num_frames": 2394, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green ring on the leftmost purple pole, moving from the right side of the table."}, {"label": "goal", "start_step": 0, "end_step": 225, "id": "e043efc1-fe60-4fad-8b27-2519be7d9326"}, {"label": "valid", "start_step": 0, "end_step": 2362, "id": "uhs2ktDAI3_7JILK8fiRL"}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the leftmost purple pole, with fingers closing around the ring to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the green ring along the leftmost purple pole away from itself, moving the ring toward the wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 226, "end_step": 365, "id": "745cd660-9c0a-4644-8ed2-78db3cb1b529"}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the black table surface to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost purple peg on the wooden base by lowering and aligning it onto the peg."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical object onto the purple peg and releases the object."}, {"label": "goal", "start_step": 366, "end_step": 490, "id": "b4529b29-6e0d-486e-8547-f95a4fda3809"}, {"label": "subtasks", "start_step": 412, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the dark table with an empty hand."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the dark table with fingers closing around it."}, {"label": "goal", "start_step": 491, "end_step": 594, "id": "8e8af75e-cec3-4c24-b838-d0edcbc4b28b"}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it upward and backward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg by lowering it and fitting the hole over the peg."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the leftmost purple peg of the pegboard, with fingers opening from a closed position."}, {"label": "goal", "start_step": 595, "end_step": 762, "id": "e79335c0-f11a-40ad-b029-9a2e4e982709"}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward from the pegboard area toward the white hexagonal piece on the table, empty."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the black table, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 763, "end_step": 898, "id": "3d6d344e-88f9-4ac6-931a-51c020574ff2"}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the test tube rack at the back of the frame."}, {"label": "subtasks", "start_step": 818, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the leftmost purple rod of the test tube rack, lowering it to fit into place."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical object on the leftmost purple rod of the test tube rack without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the middle purple rod of the wooden board and releases the block with fingers opening."}, {"label": "goal", "start_step": 899, "end_step": 1010, "id": "88c23a7f-1421-45b7-bbc1-7208cdf9a820"}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden board."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden board, with fingers closing around the block."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table in front of the wooden board without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1011, "end_step": 1114, "id": "46d48a4b-a449-4487-b745-0957f222efd7"}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical part off the table and moves it to the position above the purple peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical part with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical part on the purple peg without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the middle post of the wooden base, releasing the grip."}, {"label": "goal", "start_step": 1115, "end_step": 1218, "id": "40e5e86b-7d76-42f7-b6fb-d76ec78f7b57"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the left green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left green cubic block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the left green cubic block upward away from the table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table and transports it to the position above the middle purple peg on the wooden board."}, {"label": "goal", "start_step": 1219, "end_step": 1322, "id": "a575213a-246f-4d2e-8ef4-7fe6b71f86a4"}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg, lowering it along the peg until it reaches the white block below."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical purple peg on the wooden base."}, {"label": "goal", "start_step": 1323, "end_step": 1562, "id": "38ac465d-2371-4d37-aa82-832b649c5b1c"}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1508, "end_step": 1559, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, fingers closing around the block."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hollow block from the black ground."}, {"label": "goal", "start_step": 1563, "end_step": 1650, "id": "c98f3cd7-fe1c-4e33-b85c-55ab1287a9bd"}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1598, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by aligning its hole and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow cylindrical object onto the green post on the wooden base and releases the object."}, {"label": "goal", "start_step": 1651, "end_step": 1754, "id": "153c2de0-9d67-41d7-93d1-e0b956a3d0a7"}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hollow cylindrical object on the dark table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical object on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers slightly adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1755, "end_step": 1842, "id": "5930fff1-349f-4cfa-954f-243f5537a5e1"}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it to the position above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1829, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white object on the purple rod of the wooden pallet, with fingers opening gradually."}, {"label": "goal", "start_step": 1843, "end_step": 1954, "id": "cdb6075e-72b8-4ebc-a340-d1ff59217606"}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "goal", "start_step": 1955, "end_step": 2058, "id": "8f900022-f45e-4f90-b632-aec3f0455f2e"}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod on the wooden board, lowering it onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the purple rod into the top of the rightmost white bottle on the wooden base and releases the purple rod."}, {"label": "goal", "start_step": 2059, "end_step": 2170, "id": "e8bf9964-f911-411c-9cbf-edc9a97522fd"}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the table with fingers slightly open."}, {"label": "subtasks", "start_step": 2115, "end_step": 2181, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2171, "end_step": 2322, "id": "0d92083c-a1fa-46ac-94c4-155665e03f5b"}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the dark table surface and moves it toward the white bottle with a thin rod on the wooden tray."}, {"label": "subtasks", "start_step": 2212, "end_step": 2324, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green cubic block with the thin rod on the white bottle and lowers the block onto the bottle."}, {"label": "home", "start_step": 2363, "end_step": 2393, "id": "g_zSZ8bGKGc2hT8426n8C"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 89, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green ring on the leftmost purple pole, moving from the right side of the table."}, {"label": "subtasks", "start_step": 90, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the leftmost purple pole, with fingers closing around the ring to form a stable grip."}, {"label": "subtasks", "start_step": 120, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the green ring along the leftmost purple pole away from itself, moving the ring toward the wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 269, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 270, "end_step": 307, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the black table surface to the position above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 308, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost purple peg on the wooden base by lowering and aligning it onto the peg."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 360, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical object onto the purple peg and releases the object."}, {"label": "subtasks", "start_step": 412, "end_step": 471, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the dark table with an empty hand."}, {"label": "subtasks", "start_step": 472, "end_step": 509, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the dark table with fingers closing around it."}, {"label": "subtasks", "start_step": 510, "end_step": 531, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it upward and backward to the position above the leftmost purple peg."}, {"label": "subtasks", "start_step": 532, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg by lowering it and fitting the hole over the peg."}, {"label": "subtasks", "start_step": 548, "end_step": 584, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 585, "end_step": 621, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the leftmost purple peg of the pegboard, with fingers opening from a closed position."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward from the pegboard area toward the white hexagonal piece on the table, empty."}, {"label": "subtasks", "start_step": 675, "end_step": 719, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing around the piece to form a stable grip."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 787, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the black table, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 788, "end_step": 817, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the test tube rack at the back of the frame."}, {"label": "subtasks", "start_step": 818, "end_step": 861, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the leftmost purple rod of the test tube rack, lowering it to fit into place."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical object on the leftmost purple rod of the test tube rack without moving."}, {"label": "subtasks", "start_step": 885, "end_step": 921, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the middle purple rod of the wooden board and releases the block with fingers opening."}, {"label": "subtasks", "start_step": 922, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden board."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden board, with fingers closing around the block."}, {"label": "subtasks", "start_step": 990, "end_step": 1004, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table in front of the wooden board without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1027, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical part on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1028, "end_step": 1049, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical part off the table and moves it to the position above the purple peg."}, {"label": "subtasks", "start_step": 1050, "end_step": 1087, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical part with the purple peg and fits it down onto the peg."}, {"label": "subtasks", "start_step": 1088, "end_step": 1109, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical part on the purple peg without moving."}, {"label": "subtasks", "start_step": 1110, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the middle post of the wooden base, releasing the grip."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the left green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1207, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left green cubic block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 1208, "end_step": 1214, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the left green cubic block upward away from the table surface."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table and transports it to the position above the middle purple peg on the wooden board."}, {"label": "subtasks", "start_step": 1238, "end_step": 1304, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg, lowering it along the peg until it reaches the white block below."}, {"label": "subtasks", "start_step": 1305, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the middle purple peg without moving."}, {"label": "subtasks", "start_step": 1320, "end_step": 1461, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1462, "end_step": 1484, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, fingers open and separate from the block."}, {"label": "subtasks", "start_step": 1485, "end_step": 1507, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1508, "end_step": 1559, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, fingers closing around the block."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hollow block from the black ground."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block toward the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 1598, "end_step": 1649, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by aligning its hole and lowering it onto the rod."}, {"label": "subtasks", "start_step": 1650, "end_step": 1687, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow cylindrical object onto the green post on the wooden base and releases the object."}, {"label": "subtasks", "start_step": 1688, "end_step": 1717, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hollow cylindrical object on the dark table surface."}, {"label": "subtasks", "start_step": 1718, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical object on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1755, "end_step": 1769, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers slightly adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1770, "end_step": 1791, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it to the position above the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by aligning and inserting it onto the rod."}, {"label": "subtasks", "start_step": 1822, "end_step": 1829, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}, {"label": "subtasks", "start_step": 1830, "end_step": 1881, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white object on the purple rod of the wooden pallet, with fingers opening gradually."}, {"label": "subtasks", "start_step": 1882, "end_step": 1927, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1928, "end_step": 1979, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing to form a stable grip."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it to the position above the purple rod on the wooden board."}, {"label": "subtasks", "start_step": 2010, "end_step": 2054, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod on the wooden board, lowering it onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 2055, "end_step": 2077, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the purple rod into the top of the rightmost white bottle on the wooden base and releases the purple rod."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the table with fingers slightly open."}, {"label": "subtasks", "start_step": 2115, "end_step": 2181, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2182, "end_step": 2211, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the dark table surface and moves it toward the white bottle with a thin rod on the wooden tray."}, {"label": "subtasks", "start_step": 2212, "end_step": 2324, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green cubic block with the thin rod on the white bottle and lowers the block onto the bottle."}], "episode_index": 33}
+{"source_uid": "019fb1e1fa43248b", "num_frames": 2445, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located on the left side of the scattered blocks in front of the wooden peg rack."}, {"label": "goal", "start_step": 0, "end_step": 192, "id": "72d999a4-6aa6-45ee-b8a6-6c084c935456"}, {"label": "valid", "start_step": 0, "end_step": 2410, "id": "GurEVJegp3uw8XhoKgs5Q"}, {"label": "subtasks", "start_step": 82, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 193, "end_step": 320, "id": "0da15e69-ba8f-4598-95a8-1f4806d147e7"}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green block upwards away from the table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport_mate: Right hand transports the green block to the position above the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 315, "end_step": 441, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod of the wooden base."}, {"label": "goal", "start_step": 321, "end_step": 536, "id": "4adcf604-767f-498b-bda6-ab3bfa5906c4"}, {"label": "subtasks", "start_step": 442, "end_step": 487, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 488, "end_step": 561, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 537, "end_step": 640, "id": "f00aaa72-25bf-434f-86e0-470a1d149688"}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal object onto the target purple rod of the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal object on the purple rod without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 689, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 641, "end_step": 784, "id": "5e41a79d-1b41-4c20-b807-a4fb1aa50930"}, {"label": "subtasks", "start_step": 690, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 785, "end_step": 904, "id": "9b96adf7-e722-491b-bcb6-c41541d7209d"}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it towards the wooden base with purple rods."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white cube onto the top of the purple rod on the wooden base."}, {"label": "goal", "start_step": 905, "end_step": 1064, "id": "6545cfca-cb67-409b-a8c7-c63360db151d"}, {"label": "subtasks", "start_step": 930, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white cube on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the white cube on the table and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to above the purple peg on the wooden base."}, {"label": "goal", "start_step": 1065, "end_step": 1144, "id": "f21f1a94-387e-46bd-b616-53ccf1ffac38"}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by pressing it down to fit onto the peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1145, "end_step": 1272, "id": "1f6e0254-0174-4061-a302-484c664b6469"}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves down towards the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with slight finger adjustments."}, {"label": "goal", "start_step": 1273, "end_step": 1416, "id": "15cbb28d-0ab5-4b0f-898e-c232ba19b097"}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green block off the black table and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand mates the green block onto the middle peg of the wooden base and releases the block."}, {"label": "goal", "start_step": 1417, "end_step": 1552, "id": "3fd2ddb4-9199-49f0-b39b-d06ec628149d"}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "goal", "start_step": 1553, "end_step": 1664, "id": "8395e1dc-dcdf-4bf6-ab13-19c9da34fede"}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the white cylinder vertically up from the black tabletop, making it leave the supporting surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the white cylinder towards the wooden base with multiple posts."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white cylinder with the green post on the wooden base and fits the cylinder onto the post."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white cylindrical block on the green block on the wooden base."}, {"label": "goal", "start_step": 1665, "end_step": 1768, "id": "545a857a-d8b1-4b35-9694-2dea8585d730"}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table beside the wooden base."}, {"label": "goal", "start_step": 1769, "end_step": 1904, "id": "54ded09c-9db3-4f6e-b447-c6aa07afc98e"}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table."}, {"label": "goal", "start_step": 1905, "end_step": 2000, "id": "1617c768-908a-4b9c-ad41-68b1904739e9"}, {"label": "subtasks", "start_step": 1942, "end_step": 2047, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts fingers to close and grasp the white hollow block on the black table."}, {"label": "goal", "start_step": 2001, "end_step": 2160, "id": "95697f81-0369-4e85-a649-a2ba516da398"}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the white block onto the vacant position of the wooden block rack."}, {"label": "subtasks", "start_step": 2100, "end_step": 2151, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns and presses the white block to fit into the rack's base."}, {"label": "subtasks", "start_step": 2152, "end_step": 2159, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release_retreat: Right hand releases the white block and retreats slightly away from the rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "goal", "start_step": 2161, "end_step": 2280, "id": "3c0d5cd1-9f02-4707-9dad-f79765200921"}, {"label": "subtasks", "start_step": 2212, "end_step": 2264, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand touches the green cubic block, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the green cubic block upward away from the table surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the green block towards the rightmost white column on the wooden rack."}, {"label": "goal", "start_step": 2281, "end_step": 2376, "id": "22c50c4d-3c07-4f4a-a71f-5ab8e88d06ab"}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green block onto the rightmost white column on the wooden rack."}, {"label": "home", "start_step": 2411, "end_step": 2444, "id": "5i-vVpABNgk7M4oTY1rMa"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located on the left side of the scattered blocks in front of the wooden peg rack."}, {"label": "subtasks", "start_step": 82, "end_step": 201, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green block upwards away from the table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 314, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport_mate: Right hand transports the green block to the position above the purple peg and inserts it onto the peg."}, {"label": "subtasks", "start_step": 315, "end_step": 441, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod of the wooden base."}, {"label": "subtasks", "start_step": 442, "end_step": 487, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 488, "end_step": 561, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 562, "end_step": 584, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the tabletop and transports it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 585, "end_step": 599, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal object onto the target purple rod of the wooden base."}, {"label": "subtasks", "start_step": 600, "end_step": 629, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal object on the purple rod without moving."}, {"label": "subtasks", "start_step": 630, "end_step": 689, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 690, "end_step": 749, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 750, "end_step": 809, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 810, "end_step": 854, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it towards the wooden base with purple rods."}, {"label": "subtasks", "start_step": 855, "end_step": 899, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 900, "end_step": 929, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white cube onto the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 997, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white cube on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 998, "end_step": 1064, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the white cube on the table and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 1065, "end_step": 1087, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1088, "end_step": 1139, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by pressing it down to fit onto the peg."}, {"label": "subtasks", "start_step": 1140, "end_step": 1191, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1192, "end_step": 1237, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves down towards the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1238, "end_step": 1327, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with slight finger adjustments."}, {"label": "subtasks", "start_step": 1328, "end_step": 1379, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green block off the black table and transports it towards the wooden peg rack."}, {"label": "subtasks", "start_step": 1380, "end_step": 1409, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green block onto the target peg of the wooden rack."}, {"label": "subtasks", "start_step": 1410, "end_step": 1461, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand mates the green block onto the middle peg of the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1462, "end_step": 1491, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black table."}, {"label": "subtasks", "start_step": 1492, "end_step": 1567, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1581, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the white cylinder vertically up from the black tabletop, making it leave the supporting surface."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the white cylinder towards the wooden base with multiple posts."}, {"label": "subtasks", "start_step": 1598, "end_step": 1664, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white cylinder with the green post on the wooden base and fits the cylinder onto the post."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white cylindrical block on the green block on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1799, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table beside the wooden base."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1904, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table."}, {"label": "subtasks", "start_step": 1942, "end_step": 2047, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts fingers to close and grasp the white hollow block on the black table."}, {"label": "subtasks", "start_step": 2048, "end_step": 2077, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the wooden block rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2099, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the white block onto the vacant position of the wooden block rack."}, {"label": "subtasks", "start_step": 2100, "end_step": 2151, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns and presses the white block to fit into the rack's base."}, {"label": "subtasks", "start_step": 2152, "end_step": 2159, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release_retreat: Right hand releases the white block and retreats slightly away from the rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2211, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 2212, "end_step": 2264, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand touches the green cubic block, fingers close and adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the green cubic block upward away from the table surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2309, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the green block towards the rightmost white column on the wooden rack."}, {"label": "subtasks", "start_step": 2310, "end_step": 2384, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green block onto the rightmost white column on the wooden rack."}], "episode_index": 34}
+{"source_uid": "e09c1c838a487582", "num_frames": 2201, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves downward from the right resting position toward the green hexagonal block located at the left front of the wooden peg rack, with fingers kept open while approaching the target."}, {"label": "goal", "start_step": 0, "end_step": 176, "id": "d2ee1ca6-d225-4489-a9e4-7049354c16fe"}, {"label": "valid", "start_step": 0, "end_step": 2167, "id": "H5A5-bHXlLOMTRHs4aYwG"}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block, adjusts wrist position and closes fingers to establish a grasp on the block."}, {"label": "goal", "start_step": 177, "end_step": 272, "id": "6f2d518b-4408-4b01-b0ad-76bbdb1ff474"}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block to position it directly above the target purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post and lowers the block to fit onto the post."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place: Right hand holds the green block, moves it downward along the purple peg, and places it onto the wooden peg base."}, {"label": "goal", "start_step": 273, "end_step": 408, "id": "6a13cc90-a937-4eff-bdc0-1cd81b0ef23a"}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: release: Right hand opens fingers to release the green block that rests on the wooden base, separating from the block surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward from the peg base area toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, adjusting finger positions to establish a stable grip."}, {"label": "goal", "start_step": 409, "end_step": 504, "id": "0d4348e2-cf4a-49b5-9de3-f8921ff87bd7"}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place_release: Right hand places the held white hexagonal block onto the left purple post on the wooden base, opening fingers to release the block."}, {"label": "goal", "start_step": 505, "end_step": 664, "id": "0676c902-f6bc-422b-9fc0-b41049ca7210"}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes and adjusts fingers around the leftmost white hexagonal block on the black table surface to form a grasp."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black work surface without moving."}, {"label": "goal", "start_step": 665, "end_step": 784, "id": "e1f26258-00b5-4329-b0f1-5c1d2ae47571"}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black work surface and moves it upward to the position directly above the target purple post on the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple post and lowers the nut to fit it onto the post for nesting assembly."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand adjusts its fingers around the white cylindrical object on the purple peg of the wooden assembly to establish a stable grip."}, {"label": "goal", "start_step": 785, "end_step": 928, "id": "ea06cceb-0510-4b7a-ad34-38bc3e46c774"}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object clear of the purple peg while moving it downward and forward toward the white hexagonal piece on the dark table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place: Right hand lowers the white cylindrical object to set it onto the front white hexagonal piece resting on the dark table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the white cylindrical object positioned on top of the white hexagonal piece without any observable movement."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand grips the white hexagonal column resting on the dark table surface and lifts it upward until the column is fully separated from the table."}, {"label": "goal", "start_step": 929, "end_step": 992, "id": "9e439ef1-e1b2-4530-a8be-19f5ef001078"}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand carries the lifted white hexagonal column upward and leftward through the air to the position directly above the purple vertical rod on the light wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal column with the purple vertical rod, then lowers the column to fit it securely onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place_release: Right hand places the grasped white hexagonal block onto the purple rod of the wooden base, opening fingers to release the block once the block is supported by the base."}, {"label": "goal", "start_step": 993, "end_step": 1096, "id": "227cc434-6e69-4be8-b813-ce3486fc45f1"}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves downward with an empty hand toward the green hexagonal block on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block on the table to establish a stable grasp."}, {"label": "goal", "start_step": 1097, "end_step": 1200, "id": "7dc8a671-846c-4cde-b449-06ea333fcf4d"}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand lifts the green hexagonal block upward until it fully separates from the black table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand moves the grasped green hexagonal block upward to the position above the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without any visible movement or grip adjustment."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place: Right hand lowers the green hexagonal block down the purple peg to rest firmly on the white supporting block on the wooden rack."}, {"label": "goal", "start_step": 1201, "end_step": 1320, "id": "87ba2aea-e05b-472e-b921-dcf5c208a107"}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves downward and toward the front from the upper assembly area, approaching the white hexagonal object resting on the dark work surface with empty, open fingers."}, {"label": "subtasks", "start_step": 1252, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal object on the work surface, making slight finger adjustments to establish a stable grip while the object remains on the surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand moves upward while holding the white hexagonal object, lifting the object completely off the dark work surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward toward the purple rod on the wooden block base."}, {"label": "goal", "start_step": 1321, "end_step": 1384, "id": "0ca96d1a-ccd6-4c66-8e14-2068a0a3ab11"}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "goal", "start_step": 1385, "end_step": 1496, "id": "4e94e6f5-7699-4c3d-9084-3200419c7e51"}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut near the wooden component stand without moving."}, {"label": "goal", "start_step": 1497, "end_step": 1560, "id": "d08279d9-35d5-4bf0-9c72-c6de442217c1"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand carries the white hexagonal nut upward to the position above the top of the purple rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns and fits the white hexagonal nut onto the top end of the purple rod."}, {"label": "goal", "start_step": 1561, "end_step": 1720, "id": "5e554d08-32b4-497b-8a7d-c952f0e88ed6"}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: release_reach: Right hand releases the fitted white cylindrical piece on the purple rod and moves empty toward the white hexagonal nut on the dark table surface, approaching the nut with slightly open fingers."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the small white cylindrical block resting on the table surface without moving."}, {"label": "goal", "start_step": 1721, "end_step": 1864, "id": "b175a323-5b68-4012-931d-fdada965886d"}, {"label": "subtasks", "start_step": 1732, "end_step": 1777, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the small white cylindrical block off the table and moves it upward toward the purple rod on the block base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1859, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the small white cylindrical block with the purple rod and lowers it to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: press: Right hand presses the top surface of the purple cylinder on the wooden block holder downward with the index finger, pushing the cylinder down into the holder."}, {"label": "goal", "start_step": 1865, "end_step": 1984, "id": "081e79d9-870c-4fd1-837b-b97dca1e8ab2"}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward and to the right toward the green square block on the dark table surface, with no contact to the block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand makes contact with the green square block on the dark table surface, adjusting finger positions and closing fingers around the block to establish a grip."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block resting on the dark table surface without observable movement."}, {"label": "goal", "start_step": 1985, "end_step": 2112, "id": "450057f4-d1d7-40c5-b8e7-0b55e4272d17"}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the dark table surface and transports it to the position directly above the rightmost white post on the light wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost white post on the wooden rack, moves the block downward to nest it onto the post with slight position adjustments for proper fitting."}, {"label": "home", "start_step": 2168, "end_step": 2200, "id": "QTJRTfdWyshspmgFxx2xc"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 111, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves downward from the right resting position toward the green hexagonal block located at the left front of the wooden peg rack, with fingers kept open while approaching the target."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block, adjusts wrist position and closes fingers to establish a grasp on the block."}, {"label": "subtasks", "start_step": 210, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block to position it directly above the target purple vertical post on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post and lowers the block to fit onto the post."}, {"label": "subtasks", "start_step": 270, "end_step": 337, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place: Right hand holds the green block, moves it downward along the purple peg, and places it onto the wooden peg base."}, {"label": "subtasks", "start_step": 338, "end_step": 351, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: release: Right hand opens fingers to release the green block that rests on the wooden base, separating from the block surface."}, {"label": "subtasks", "start_step": 352, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward from the peg base area toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 382, "end_step": 427, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, adjusting finger positions to establish a stable grip."}, {"label": "subtasks", "start_step": 428, "end_step": 457, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the leftmost purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 458, "end_step": 494, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple peg and lowers the nut to fit onto the peg."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place_release: Right hand places the held white hexagonal block onto the left purple post on the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the leftmost white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 578, "end_step": 659, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes and adjusts fingers around the leftmost white hexagonal block on the black table surface to form a grasp."}, {"label": "subtasks", "start_step": 660, "end_step": 681, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black work surface without moving."}, {"label": "subtasks", "start_step": 682, "end_step": 711, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black work surface and moves it upward to the position directly above the target purple post on the wooden rack."}, {"label": "subtasks", "start_step": 712, "end_step": 779, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple post and lowers the nut to fit it onto the post for nesting assembly."}, {"label": "subtasks", "start_step": 780, "end_step": 809, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand adjusts its fingers around the white cylindrical object on the purple peg of the wooden assembly to establish a stable grip."}, {"label": "subtasks", "start_step": 810, "end_step": 847, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object clear of the purple peg while moving it downward and forward toward the white hexagonal piece on the dark table surface."}, {"label": "subtasks", "start_step": 848, "end_step": 877, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place: Right hand lowers the white cylindrical object to set it onto the front white hexagonal piece resting on the dark table surface."}, {"label": "subtasks", "start_step": 878, "end_step": 914, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the white cylindrical object positioned on top of the white hexagonal piece without any observable movement."}, {"label": "subtasks", "start_step": 915, "end_step": 937, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand grips the white hexagonal column resting on the dark table surface and lifts it upward until the column is fully separated from the table."}, {"label": "subtasks", "start_step": 938, "end_step": 959, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand carries the lifted white hexagonal column upward and leftward through the air to the position directly above the purple vertical rod on the light wooden base."}, {"label": "subtasks", "start_step": 960, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal column with the purple vertical rod, then lowers the column to fit it securely onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1027, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place_release: Right hand places the grasped white hexagonal block onto the purple rod of the wooden base, opening fingers to release the block once the block is supported by the base."}, {"label": "subtasks", "start_step": 1028, "end_step": 1057, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves downward with an empty hand toward the green hexagonal block on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1058, "end_step": 1109, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 1110, "end_step": 1124, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand lifts the green hexagonal block upward until it fully separates from the black table surface."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand moves the grasped green hexagonal block upward to the position above the purple peg on the wooden assembly rack."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and fits the block onto the peg."}, {"label": "subtasks", "start_step": 1170, "end_step": 1199, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without any visible movement or grip adjustment."}, {"label": "subtasks", "start_step": 1200, "end_step": 1214, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place: Right hand lowers the green hexagonal block down the purple peg to rest firmly on the white supporting block on the wooden rack."}, {"label": "subtasks", "start_step": 1215, "end_step": 1251, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves downward and toward the front from the upper assembly area, approaching the white hexagonal object resting on the dark work surface with empty, open fingers."}, {"label": "subtasks", "start_step": 1252, "end_step": 1311, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal object on the work surface, making slight finger adjustments to establish a stable grip while the object remains on the surface."}, {"label": "subtasks", "start_step": 1312, "end_step": 1319, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand moves upward while holding the white hexagonal object, lifting the object completely off the dark work surface."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1409, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod."}, {"label": "subtasks", "start_step": 1410, "end_step": 1439, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block on the purple rod."}, {"label": "subtasks", "start_step": 1440, "end_step": 1477, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the table near the wooden base."}, {"label": "subtasks", "start_step": 1478, "end_step": 1484, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a grasp."}, {"label": "subtasks", "start_step": 1485, "end_step": 1514, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut near the wooden component stand without moving."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand carries the white hexagonal nut upward to the position above the top of the purple rod."}, {"label": "subtasks", "start_step": 1545, "end_step": 1657, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns and fits the white hexagonal nut onto the top end of the purple rod."}, {"label": "subtasks", "start_step": 1658, "end_step": 1709, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: release_reach: Right hand releases the fitted white cylindrical piece on the purple rod and moves empty toward the white hexagonal nut on the dark table surface, approaching the nut with slightly open fingers."}, {"label": "subtasks", "start_step": 1710, "end_step": 1731, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the small white cylindrical block resting on the table surface without moving."}, {"label": "subtasks", "start_step": 1732, "end_step": 1777, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the small white cylindrical block off the table and moves it upward toward the purple rod on the block base."}, {"label": "subtasks", "start_step": 1778, "end_step": 1859, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the small white cylindrical block with the purple rod and lowers it to fit onto the rod for assembly."}, {"label": "subtasks", "start_step": 1860, "end_step": 1904, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: press: Right hand presses the top surface of the purple cylinder on the wooden block holder downward with the index finger, pushing the cylinder down into the holder."}, {"label": "subtasks", "start_step": 1905, "end_step": 1941, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward and to the right toward the green square block on the dark table surface, with no contact to the block."}, {"label": "subtasks", "start_step": 1942, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand makes contact with the green square block on the dark table surface, adjusting finger positions and closing fingers around the block to establish a grip."}, {"label": "subtasks", "start_step": 1980, "end_step": 1994, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block resting on the dark table surface without observable movement."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the dark table surface and transports it to the position directly above the rightmost white post on the light wooden rack."}, {"label": "subtasks", "start_step": 2032, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost white post on the wooden rack, moves the block downward to nest it onto the post with slight position adjustments for proper fitting."}], "episode_index": 35}
+{"source_uid": "3f0b72f32517ceb3", "num_frames": 2263, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the middle block assembly on the table, moving leftward and upward with empty hand."}, {"label": "goal", "start_step": 0, "end_step": 192, "id": "2a616b3a-bc09-473b-9272-5dd5a7b3281a"}, {"label": "valid", "start_step": 0, "end_step": 2226, "id": "CCcCik6vQNWarTYgCbqFA"}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the purple rod of the middle assembly, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the purple rod, then moves leftward and downward to the area above the front-left green block on the table."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the front-left green block on the table, lowering the block until it is supported by the green block."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 193, "end_step": 280, "id": "282d17e4-7a67-4485-9f01-db37209b19bc"}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green hexagonal block fully down onto the leftmost purple vertical peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 281, "end_step": 440, "id": "c4424d48-62c7-42f2-8f40-f0d8ee0187a7"}, {"label": "subtasks", "start_step": 330, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface to the left of the loose green block."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the dark table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table surface and transports it upward and rightward to the area above the purple peg on the pegboard."}, {"label": "goal", "start_step": 441, "end_step": 544, "id": "2e43507d-edf4-4d40-a204-c307423b5c5d"}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple peg by fitting the part onto the peg."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 545, "end_step": 656, "id": "f2d0b146-dfbb-4b78-8b78-eb59125ea2ce"}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal hollow block on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal hollow block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal hollow block on the black table surface without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the dark table, with fingers adjusting to establish a stable grip while the block stays on the table."}, {"label": "goal", "start_step": 657, "end_step": 776, "id": "73cca31a-ef48-41f7-b6e4-978941f5bb4e"}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and transports it upward and toward the peg board with green and purple pegs."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the top-left peg of the peg board, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow block on the top-left peg of the peg board without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow block onto the purple peg of the wooden rack and releases the block."}, {"label": "goal", "start_step": 777, "end_step": 944, "id": "e51c0a2f-f8ff-465b-a373-d5f477352dea"}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table in front of the wooden rack, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block with a central hole from the dark table surface."}, {"label": "goal", "start_step": 945, "end_step": 1096, "id": "856b11a7-1c4d-4a94-bcca-1311dc979aa4"}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg by aligning the hole and lowering the block along the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and moves slightly upward away from the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1097, "end_step": 1160, "id": "dcc4897d-c6d2-47b4-ba7f-2d90ccf3ba66"}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1161, "end_step": 1264, "id": "a6a83063-09ef-40ad-aa21-b74b1f99ef93"}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the position above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the top of the rightmost purple peg, aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the top of the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the top of the rightmost purple peg, with fingers opening and separating from the block."}, {"label": "goal", "start_step": 1265, "end_step": 1400, "id": "57f1a103-9503-4e97-9e2f-83193ad94e50"}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table, approaching it without contact."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1401, "end_step": 1504, "id": "a5b9a2a1-3b0f-4538-a810-725a96d174cc"}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical piece from the table and transports it upward and leftward toward the wooden peg board."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece onto the purple vertical peg on the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand holds the white cylindrical piece and moves downward to mate it onto the vertical peg on the green base."}, {"label": "goal", "start_step": 1505, "end_step": 1632, "id": "0c8671b9-5742-4261-a329-a6d53684f82e"}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece that is mated on the vertical peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small white cylindrical piece on the table to approach it."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small white cylindrical piece on the table."}, {"label": "goal", "start_step": 1633, "end_step": 1736, "id": "2fae140e-c7f1-411a-9a40-55f0cd2e6430"}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical piece off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple rod on the wooden rack by aligning and inserting the rod into the cylinder."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1737, "end_step": 1864, "id": "1cd062f1-1356-4f80-80a6-91a458dedd19"}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing around the block to form a stable grip."}, {"label": "goal", "start_step": 1865, "end_step": 1952, "id": "5ba24a79-502e-4fd6-9b21-9101528417d6"}, {"label": "subtasks", "start_step": 1882, "end_step": 1919, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it upward and leftward toward the purple rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and lowers it onto the rod to complete the mating."}, {"label": "goal", "start_step": 1953, "end_step": 2048, "id": "90848475-8ad0-4c7b-b184-c2a2a2a9a2f2"}, {"label": "subtasks", "start_step": 1972, "end_step": 1987, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part on the purple peg, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the dark table surface, moving downward and rightward."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the dark table surface, with fingers closing and adjusting to stabilize the grip."}, {"label": "goal", "start_step": 2049, "end_step": 2192, "id": "8c01bbe4-0990-4c38-a051-aaba2044d325"}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow cube off the table and moves it toward the wooden rack holding white cylinders."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hollow cube onto the rightmost white cylinder on the wooden rack by aligning the hole with the cylinder and lowering it into place."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hollow cube, with fingers opening and separating from the cube fitted on the white cylinder."}, {"label": "home", "start_step": 2227, "end_step": 2262, "id": "TzDwOWnT5QxOnh2rRrge8"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the middle block assembly on the table, moving leftward and upward with empty hand."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the purple rod of the middle assembly, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 105, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the purple rod, then moves leftward and downward to the area above the front-left green block on the table."}, {"label": "subtasks", "start_step": 150, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the front-left green block on the table, lowering the block until it is supported by the green block."}, {"label": "subtasks", "start_step": 180, "end_step": 224, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 225, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 269, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base by lowering it onto the peg."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green hexagonal block fully down onto the leftmost purple vertical peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 330, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface to the left of the loose green block."}, {"label": "subtasks", "start_step": 382, "end_step": 411, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 412, "end_step": 434, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the dark table surface."}, {"label": "subtasks", "start_step": 435, "end_step": 457, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table surface and transports it upward and rightward to the area above the purple peg on the pegboard."}, {"label": "subtasks", "start_step": 458, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple peg by fitting the part onto the peg."}, {"label": "subtasks", "start_step": 472, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 584, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 585, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal hollow block on the black table surface."}, {"label": "subtasks", "start_step": 615, "end_step": 637, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal hollow block on the black table surface."}, {"label": "subtasks", "start_step": 638, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal hollow block on the black table surface without moving."}, {"label": "subtasks", "start_step": 645, "end_step": 681, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the dark table, with fingers adjusting to establish a stable grip while the block stays on the table."}, {"label": "subtasks", "start_step": 682, "end_step": 704, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and transports it upward and toward the peg board with green and purple pegs."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the top-left peg of the peg board, lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow block on the top-left peg of the peg board without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 801, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow block onto the purple peg of the wooden rack and releases the block."}, {"label": "subtasks", "start_step": 802, "end_step": 854, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the table in front of the wooden rack."}, {"label": "subtasks", "start_step": 855, "end_step": 944, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table in front of the wooden rack, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 945, "end_step": 967, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block with a central hole from the dark table surface."}, {"label": "subtasks", "start_step": 968, "end_step": 989, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1079, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg by aligning the hole and lowering the block along the peg."}, {"label": "subtasks", "start_step": 1080, "end_step": 1094, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and moves slightly upward away from the peg."}, {"label": "subtasks", "start_step": 1095, "end_step": 1117, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1118, "end_step": 1131, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1132, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1214, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the position above the rightmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1215, "end_step": 1237, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the top of the rightmost purple peg, aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1238, "end_step": 1259, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the top of the rightmost purple peg without moving."}, {"label": "subtasks", "start_step": 1260, "end_step": 1297, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the top of the rightmost purple peg, with fingers opening and separating from the block."}, {"label": "subtasks", "start_step": 1298, "end_step": 1334, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table, approaching it without contact."}, {"label": "subtasks", "start_step": 1335, "end_step": 1409, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1410, "end_step": 1431, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical piece from the table and transports it upward and leftward toward the wooden peg board."}, {"label": "subtasks", "start_step": 1432, "end_step": 1484, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece onto the purple vertical peg on the wooden board by aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical piece on the purple peg without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1544, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand holds the white cylindrical piece and moves downward to mate it onto the vertical peg on the green base."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece that is mated on the vertical peg."}, {"label": "subtasks", "start_step": 1560, "end_step": 1611, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small white cylindrical piece on the table to approach it."}, {"label": "subtasks", "start_step": 1612, "end_step": 1664, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small white cylindrical piece on the table."}, {"label": "subtasks", "start_step": 1665, "end_step": 1701, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical piece off the table and transports it to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1702, "end_step": 1724, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple rod on the wooden rack by aligning and inserting the rod into the cylinder."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1785, "end_step": 1814, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1815, "end_step": 1844, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1859, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}, {"label": "subtasks", "start_step": 1860, "end_step": 1881, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1882, "end_step": 1919, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it upward and leftward toward the purple rod on the wooden block holder."}, {"label": "subtasks", "start_step": 1920, "end_step": 1971, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and lowers it onto the rod to complete the mating."}, {"label": "subtasks", "start_step": 1972, "end_step": 1987, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part on the purple peg, with fingers opening and separating from the part."}, {"label": "subtasks", "start_step": 1988, "end_step": 2024, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the dark table surface, moving downward and rightward."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the dark table surface, with fingers closing and adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2078, "end_step": 2114, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow cube off the table and moves it toward the wooden rack holding white cylinders."}, {"label": "subtasks", "start_step": 2115, "end_step": 2189, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hollow cube onto the rightmost white cylinder on the wooden rack by aligning the hole with the cylinder and lowering it into place."}, {"label": "subtasks", "start_step": 2190, "end_step": 2204, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hollow cube, with fingers opening and separating from the cube fitted on the white cylinder."}], "episode_index": 36}
+{"source_uid": "7525e61dcbc52ec9", "num_frames": 2837, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed in front of the wooden base on the table."}, {"label": "goal", "start_step": 0, "end_step": 200, "id": "eacf4c2f-5f64-4fff-8038-12684f9ccce4"}, {"label": "valid", "start_step": 0, "end_step": 2799, "id": "y_bSaqyfH73zkYlwCtxMb"}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block up off the table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the frontmost purple rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 201, "end_step": 296, "id": "2f6b7700-4c4b-41b6-9a0f-84dfb6965a5c"}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the green hexagonal block onto the purple peg to complete the assembly."}, {"label": "goal", "start_step": 297, "end_step": 424, "id": "47a319c7-30c3-450a-841b-2e58fe6f2fec"}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the purple rod, moving downwards towards the tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 425, "end_step": 504, "id": "9587b31b-10f2-4312-8940-ea287aa91ebb"}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 450, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, aligning it and pressing down to complete the fitting."}, {"label": "goal", "start_step": 505, "end_step": 680, "id": "4eb756d8-550d-4ea4-b2c8-90bafc7dcf98"}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 681, "end_step": 760, "id": "a8638daf-a0e6-4d3a-b061-79d7f6aa973b"}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple poles."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the pole on the wooden rack and inserts it onto the pole."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the pole of the wooden rack without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 761, "end_step": 896, "id": "f1787e94-392f-41fc-bb3a-56b9b1050e06"}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface with fingers closing around it."}, {"label": "goal", "start_step": 897, "end_step": 992, "id": "657d9fdb-e461-4d9a-8c98-dc11fa9f4bd8"}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 993, "end_step": 1096, "id": "36ddba22-fb1c-4fd8-a492-23d36aefa6b7"}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface."}, {"label": "goal", "start_step": 1097, "end_step": 1192, "id": "2c7baf5e-6b4c-4608-b9a6-ba80ea10fddb"}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block which is placed on the purple peg."}, {"label": "goal", "start_step": 1193, "end_step": 1320, "id": "db242c8d-cbb1-431f-a7b1-dfc8b70f621b"}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylinder from the black table surface."}, {"label": "goal", "start_step": 1321, "end_step": 1432, "id": "1aa20eec-ef5d-4442-b520-351b12735a6d"}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylinder towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple peg on the wooden base and inserts it."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the inserted white cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the white cylindrical block mounted on the vertical post of the wooden base."}, {"label": "goal", "start_step": 1433, "end_step": 2120, "id": "5a797a40-eaa3-4668-8105-61d095e98a3e"}, {"label": "subtasks", "start_step": 1455, "end_step": 1574, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white cylindrical block off the vertical post, making the block fall onto the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1717, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the fallen white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1718, "end_step": 1784, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white cylindrical block towards the wooden base with vertical posts."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the corresponding vertical post on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden base towards another white cylindrical block on the table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2144, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with and adjusts its grip on the white cylindrical block near the wooden base."}, {"label": "goal", "start_step": 2121, "end_step": 2224, "id": "cc50a6de-938a-48be-8dca-a9669f43415f"}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple peg to complete the assembly."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 2225, "end_step": 2352, "id": "6bb68d3f-d61f-44b4-aebd-d62518468785"}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2377, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface and adjusts fingers to form a stable grip."}, {"label": "goal", "start_step": 2353, "end_step": 2464, "id": "f7457d51-8a17-46be-b164-daaa384ee3fd"}, {"label": "subtasks", "start_step": 2378, "end_step": 2391, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object upwards away from the black table surface."}, {"label": "subtasks", "start_step": 2392, "end_step": 2437, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod fixed on the wooden rack."}, {"label": "subtasks", "start_step": 2460, "end_step": 2511, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "goal", "start_step": 2465, "end_step": 2608, "id": "e2d22d57-54c0-413a-9251-084c2215d3fb"}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2542, "end_step": 2617, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table surface."}, {"label": "goal", "start_step": 2609, "end_step": 2728, "id": "1dc51381-79fb-4f47-9424-a275db03f0a5"}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table surface and transports it towards the white bottle with a purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2707, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the white bottle with a purple cap on the wooden rack and inserts the ring onto the bottle."}, {"label": "subtasks", "start_step": 2708, "end_step": 2729, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring placed on the white bottle, fingers opening to separate from the ring."}, {"label": "home", "start_step": 2800, "end_step": 2836, "id": "HDNshe_kAJnvQAdo3xPRE"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed in front of the wooden base on the table."}, {"label": "subtasks", "start_step": 75, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block, adjusting the grip to be stable."}, {"label": "subtasks", "start_step": 128, "end_step": 141, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block up off the table surface."}, {"label": "subtasks", "start_step": 142, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the frontmost purple rod on the wooden base for assembly."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 218, "end_step": 247, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 248, "end_step": 329, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the green hexagonal block onto the purple peg to complete the assembly."}, {"label": "subtasks", "start_step": 330, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the purple rod, moving downwards towards the tabletop."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 450, "end_step": 554, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, aligning it and pressing down to complete the fitting."}, {"label": "subtasks", "start_step": 555, "end_step": 621, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 667, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 668, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 689, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 690, "end_step": 704, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple poles."}, {"label": "subtasks", "start_step": 705, "end_step": 734, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the pole on the wooden rack and inserts it onto the pole."}, {"label": "subtasks", "start_step": 735, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the pole of the wooden rack without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 795, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block on the black table surface."}, {"label": "subtasks", "start_step": 840, "end_step": 907, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 908, "end_step": 921, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 922, "end_step": 989, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 990, "end_step": 1011, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1012, "end_step": 1079, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it toward the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 1140, "end_step": 1184, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1185, "end_step": 1199, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block which is placed on the purple peg."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1230, "end_step": 1267, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1268, "end_step": 1319, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1320, "end_step": 1334, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylinder from the black table surface."}, {"label": "subtasks", "start_step": 1335, "end_step": 1349, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylinder towards the wooden base with pegs."}, {"label": "subtasks", "start_step": 1350, "end_step": 1394, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple peg on the wooden base and inserts it."}, {"label": "subtasks", "start_step": 1395, "end_step": 1424, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the inserted white cylinder on the purple peg without moving."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the white cylindrical block mounted on the vertical post of the wooden base."}, {"label": "subtasks", "start_step": 1455, "end_step": 1574, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white cylindrical block off the vertical post, making the block fall onto the table surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1717, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the fallen white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1718, "end_step": 1784, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the table surface."}, {"label": "subtasks", "start_step": 1808, "end_step": 1927, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white cylindrical block towards the wooden base with vertical posts."}, {"label": "subtasks", "start_step": 1928, "end_step": 2024, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the corresponding vertical post on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden base towards another white cylindrical block on the table."}, {"label": "subtasks", "start_step": 2062, "end_step": 2144, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with and adjusts its grip on the white cylindrical block near the wooden base."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black tabletop."}, {"label": "subtasks", "start_step": 2160, "end_step": 2204, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2205, "end_step": 2219, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple peg to complete the assembly."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2301, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2377, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface and adjusts fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2378, "end_step": 2391, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object upwards away from the black table surface."}, {"label": "subtasks", "start_step": 2392, "end_step": 2437, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2438, "end_step": 2459, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod fixed on the wooden rack."}, {"label": "subtasks", "start_step": 2460, "end_step": 2511, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}, {"label": "subtasks", "start_step": 2512, "end_step": 2541, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2542, "end_step": 2617, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table surface."}, {"label": "subtasks", "start_step": 2618, "end_step": 2647, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table surface and transports it towards the white bottle with a purple cap on the wooden rack."}, {"label": "subtasks", "start_step": 2648, "end_step": 2707, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the white bottle with a purple cap on the wooden rack and inserts the ring onto the bottle."}, {"label": "subtasks", "start_step": 2708, "end_step": 2729, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring placed on the white bottle, fingers opening to separate from the ring."}], "episode_index": 37}
+{"source_uid": "aef67a7258a6f0c1", "num_frames": 2667, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: idle: Right hand remains empty at the right side of the workspace with fingers extended upward, with no contact with any objects and no visible purposeful movement."}, {"label": "goal", "start_step": 0, "end_step": 248, "id": "ff718fca-2034-4fa8-af38-d1814591c17b"}, {"label": "valid", "start_step": 0, "end_step": 2632, "id": "LXiJ2sf-wdL9oIDm9VvnG"}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward and leftward from its rest position toward the green hexagonal block at the front-left of the wooden peg assembly stand, remaining empty."}, {"label": "subtasks", "start_step": 120, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand positions its fingers around the green hexagonal block, closes its fingers to make contact with the block, and adjusts wrist angle and finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the green hexagonal block steadily, with no visible movement of the hand, fingers, or the gripped block."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand holds the green hexagonal block with closed fingers, and lifts it vertically upward until the block fully leaves the black table surface."}, {"label": "goal", "start_step": 249, "end_step": 328, "id": "ee41eb0a-599c-4d9b-9609-4cc5a96ee6dc"}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted green hexagonal block upward through the air to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, and lowers the block to fit it onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 315, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes slight finger adjustments to stabilize its grip on the green hexagonal block held over the purple peg on the wooden base."}, {"label": "goal", "start_step": 329, "end_step": 520, "id": "46678d90-6db4-4950-b9d7-b425eb4091f9"}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand moves the gripped green hexagonal block downward along the purple peg until the block is supported by the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block resting on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned in front of the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal block, making small adjustments to establish a grip."}, {"label": "goal", "start_step": 521, "end_step": 648, "id": "bfd3ee8a-67fa-460a-846d-1aa6d21e8dd7"}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden peg base."}, {"label": "subtasks", "start_step": 570, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and adjusts the block's position to fit it onto the rod."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand lowers the light purple hexagonal block onto the left purple rod on the green wooden base until the block is supported by the rod."}, {"label": "goal", "start_step": 649, "end_step": 832, "id": "5253ebf4-576c-417a-8d87-5e1a9d9f3a17"}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward from the assembly base area toward the front white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes around the front white hexagonal block on the table to establish a stable grip."}, {"label": "goal", "start_step": 833, "end_step": 1000, "id": "d3395d45-78d2-471e-96f8-88cd6e6c75eb"}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above a purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 892, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and lowers it along the peg to assemble it onto the stacked nut below on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes slight finger adjustments to secure its grip on the white hexagonal block mounted on the left purple peg of the wooden base."}, {"label": "goal", "start_step": 1001, "end_step": 1104, "id": "572b1303-20ab-4a9e-bf10-fc0ae6cf1736"}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate_release: Right hand moves the grasped white hexagonal block to align with the adjacent purple peg, inserts the block onto the peg, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward in an empty state toward the small white hexagonal block placed on the table in front of the wooden base, approaching the target."}, {"label": "subtasks", "start_step": 1058, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand contacts the small white hexagonal block on the table surface, closes fingers and makes slight adjustments to establish a stable grip on the block."}, {"label": "goal", "start_step": 1105, "end_step": 1200, "id": "5e21ed77-6a38-4ea0-9927-4cfd5367788b"}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place_release: Right hand holds the white cylindrical block, moves downward to set the block onto the middle purple rod on the wooden base, with fingers opening to release the block as it rests on the base."}, {"label": "goal", "start_step": 1201, "end_step": 1384, "id": "510bd421-f64d-48bf-b9af-5e073e785217"}, {"label": "subtasks", "start_step": 1298, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward empty to approach the green hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making small adjustments to finger positions to establish a secure hold on the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand holds the green block on the dark table surface and lifts it upward until the block is fully off the table surface."}, {"label": "goal", "start_step": 1385, "end_step": 1480, "id": "d825998e-c506-4b63-9e46-e2f88606e03e"}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted green block upward and toward the wooden peg base, moving the block directly above the target purple peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the hole of the green block with the target purple peg on the wooden base and lowers the block to fit onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the middle purple post until the block is stably supported, and opens fingers to release the block."}, {"label": "goal", "start_step": 1481, "end_step": 1616, "id": "d5b2f283-9350-4528-af3d-34e949e791a0"}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the dark gray table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1641, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closes fingers and adjusts contact positions to grasp the block."}, {"label": "goal", "start_step": 1617, "end_step": 1744, "id": "0ca72ca7-6094-4a03-8bac-ae7d74ba4391"}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the work surface and transports it upward and leftward to the position directly above the target vertical rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target vertical rod and moves the block downward to fit onto the rod, forming the assembled connection."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the stacked post on the wooden base, and opens fingers to release the block."}, {"label": "goal", "start_step": 1745, "end_step": 1912, "id": "ebbacc7d-9581-4099-831a-89956477c94c"}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves empty downward toward the small white hexagonal nut placed on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal nut on the table, closing and adjusting fingers to form a grip on the nut."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the small white hexagonal nut on the table steadily without any observable movement or finger adjustment."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward until it fully leaves the black table surface."}, {"label": "goal", "start_step": 1913, "end_step": 2024, "id": "0a9880f5-9797-475b-b4d3-c460448ba437"}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod, completing the assembly."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple rod without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface with fingers slightly open."}, {"label": "goal", "start_step": 2025, "end_step": 2144, "id": "220b2aca-2e8d-4153-8fb1-89f41e22b7a8"}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the black table surface without visible movement."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand holds the white cylindrical object and lifts it upward off the dark table surface until the object is fully separated from the table."}, {"label": "goal", "start_step": 2145, "end_step": 2256, "id": "9eb94ca4-08b8-4210-9318-2efbc4d073c9"}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted white cylindrical object upward and toward the wooden holder, moving it to the position directly above the empty slot on the holder."}, {"label": "subtasks", "start_step": 2182, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand makes slight positional adjustments to the white cylindrical object to align it precisely with the empty slot on the wooden holder."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand moves the aligned white cylindrical object downward into the empty slot until the object is stably supported by the wooden holder."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: release: Right hand opens its fingers to release the placed white cylindrical object, separating from the object surface."}, {"label": "goal", "start_step": 2257, "end_step": 2384, "id": "f82a988d-0958-47fa-80b5-23a84b9a9f16"}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the purple cylindrical object on the light wooden tray without moving."}, {"label": "subtasks", "start_step": 2280, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: release_reach: Right hand opens fingers to release the purple cylindrical object on the tray, and moves diagonally down toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand contacts the top of the green square block on the table, closing fingers and adjusting contact positions to form a grip."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes fingers around the green perforated block on the black table surface to establish a firm grasp."}, {"label": "goal", "start_step": 2385, "end_step": 2520, "id": "a6f360d7-e34e-487b-853a-da0126ccedc4"}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward through the air to the position directly above the gap between white cylinders on the wooden tray."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand lowers the green block vertically down to place it into the target gap between white cylinders, until the block is stably supported by adjacent objects."}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand maintains a stable grip on the placed green block without observable movement of the hand, fingers or the block."}, {"label": "home", "start_step": 2633, "end_step": 2666, "id": "47xUJY5yQqI7fdAgnMQ7y"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 59, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: idle: Right hand remains empty at the right side of the workspace with fingers extended upward, with no contact with any objects and no visible purposeful movement."}, {"label": "subtasks", "start_step": 60, "end_step": 119, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward and leftward from its rest position toward the green hexagonal block at the front-left of the wooden peg assembly stand, remaining empty."}, {"label": "subtasks", "start_step": 120, "end_step": 217, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand positions its fingers around the green hexagonal block, closes its fingers to make contact with the block, and adjusts wrist angle and finger positions to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the green hexagonal block steadily, with no visible movement of the hand, fingers, or the gripped block."}, {"label": "subtasks", "start_step": 240, "end_step": 261, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand holds the green hexagonal block with closed fingers, and lifts it vertically upward until the block fully leaves the black table surface."}, {"label": "subtasks", "start_step": 262, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted green hexagonal block upward through the air to the position directly above the target purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, and lowers the block to fit it onto the peg to form the assembly connection."}, {"label": "subtasks", "start_step": 315, "end_step": 381, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes slight finger adjustments to stabilize its grip on the green hexagonal block held over the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 382, "end_step": 404, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand moves the gripped green hexagonal block downward along the purple peg until the block is supported by the wooden base."}, {"label": "subtasks", "start_step": 405, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block resting on the wooden base."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned in front of the wooden base."}, {"label": "subtasks", "start_step": 465, "end_step": 547, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal block, making small adjustments to establish a grip."}, {"label": "subtasks", "start_step": 548, "end_step": 569, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden peg base."}, {"label": "subtasks", "start_step": 570, "end_step": 644, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and adjusts the block's position to fit it onto the rod."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand lowers the light purple hexagonal block onto the left purple rod on the green wooden base until the block is supported by the rod."}, {"label": "subtasks", "start_step": 675, "end_step": 734, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward from the assembly base area toward the front white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 735, "end_step": 861, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes around the front white hexagonal block on the table to establish a stable grip."}, {"label": "subtasks", "start_step": 862, "end_step": 891, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above a purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 892, "end_step": 989, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and lowers it along the peg to assemble it onto the stacked nut below on the wooden base."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes slight finger adjustments to secure its grip on the white hexagonal block mounted on the left purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1041, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate_release: Right hand moves the grasped white hexagonal block to align with the adjacent purple peg, inserts the block onto the peg, with fingers opening to release the block."}, {"label": "subtasks", "start_step": 1042, "end_step": 1057, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward in an empty state toward the small white hexagonal block placed on the table in front of the wooden base, approaching the target."}, {"label": "subtasks", "start_step": 1058, "end_step": 1124, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand contacts the small white hexagonal block on the table surface, closes fingers and makes slight adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1199, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1200, "end_step": 1297, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place_release: Right hand holds the white cylindrical block, moves downward to set the block onto the middle purple rod on the wooden base, with fingers opening to release the block as it rests on the base."}, {"label": "subtasks", "start_step": 1298, "end_step": 1349, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward empty to approach the green hexagonal block resting on the table near the wooden base."}, {"label": "subtasks", "start_step": 1350, "end_step": 1379, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making small adjustments to finger positions to establish a secure hold on the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand holds the green block on the dark table surface and lifts it upward until the block is fully off the table surface."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted green block upward and toward the wooden peg base, moving the block directly above the target purple peg."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the hole of the green block with the target purple peg on the wooden base and lowers the block to fit onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1470, "end_step": 1537, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the middle purple post until the block is stably supported, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1538, "end_step": 1567, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the dark gray table."}, {"label": "subtasks", "start_step": 1568, "end_step": 1641, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closes fingers and adjusts contact positions to grasp the block."}, {"label": "subtasks", "start_step": 1642, "end_step": 1671, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the work surface and transports it upward and leftward to the position directly above the target vertical rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 1672, "end_step": 1739, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target vertical rod and moves the block downward to fit onto the rod, forming the assembled connection."}, {"label": "subtasks", "start_step": 1740, "end_step": 1777, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the stacked post on the wooden base, and opens fingers to release the block."}, {"label": "subtasks", "start_step": 1778, "end_step": 1829, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves empty downward toward the small white hexagonal nut placed on the table adjacent to the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1889, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal nut on the table, closing and adjusting fingers to form a grip on the nut."}, {"label": "subtasks", "start_step": 1890, "end_step": 1904, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the small white hexagonal nut on the table steadily without any observable movement or finger adjustment."}, {"label": "subtasks", "start_step": 1905, "end_step": 1934, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward until it fully leaves the black table surface."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward to the position directly above the purple rod on the wooden block rack."}, {"label": "subtasks", "start_step": 1965, "end_step": 2001, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod, completing the assembly."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple rod without any observable movement or hand shape change."}, {"label": "subtasks", "start_step": 2025, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface with fingers slightly open."}, {"label": "subtasks", "start_step": 2078, "end_step": 2121, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the black table surface without visible movement."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand holds the white cylindrical object and lifts it upward off the dark table surface until the object is fully separated from the table."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted white cylindrical object upward and toward the wooden holder, moving it to the position directly above the empty slot on the holder."}, {"label": "subtasks", "start_step": 2182, "end_step": 2227, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand makes slight positional adjustments to the white cylindrical object to align it precisely with the empty slot on the wooden holder."}, {"label": "subtasks", "start_step": 2228, "end_step": 2249, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand moves the aligned white cylindrical object downward into the empty slot until the object is stably supported by the wooden holder."}, {"label": "subtasks", "start_step": 2250, "end_step": 2264, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: release: Right hand opens its fingers to release the placed white cylindrical object, separating from the object surface."}, {"label": "subtasks", "start_step": 2265, "end_step": 2279, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the purple cylindrical object on the light wooden tray without moving."}, {"label": "subtasks", "start_step": 2280, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: release_reach: Right hand opens fingers to release the purple cylindrical object on the tray, and moves diagonally down toward the green square block on the black table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand contacts the top of the green square block on the table, closing fingers and adjusting contact positions to form a grip."}, {"label": "subtasks", "start_step": 2385, "end_step": 2399, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes fingers around the green perforated block on the black table surface to establish a firm grasp."}, {"label": "subtasks", "start_step": 2400, "end_step": 2414, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2415, "end_step": 2459, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward through the air to the position directly above the gap between white cylinders on the wooden tray."}, {"label": "subtasks", "start_step": 2460, "end_step": 2497, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand lowers the green block vertically down to place it into the target gap between white cylinders, until the block is stably supported by adjacent objects."}, {"label": "subtasks", "start_step": 2498, "end_step": 2534, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand maintains a stable grip on the placed green block without observable movement of the hand, fingers or the block."}], "episode_index": 38}
+{"source_uid": "e2e675b1127a4532", "num_frames": 2678, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: retreat: Left hand moves leftward away from the central operation area of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block at the left front of the peg board, approaching the target without contact."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "1dbb7b1c-8db9-4c7f-8278-78019f9995db"}, {"label": "valid", "start_step": 0, "end_step": 2647, "id": "LhEG409xmp8pA_imbfc_j"}, {"label": "subtasks", "start_step": 22, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block at the left front of the peg board, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block at the left front of the peg board, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 153, "end_step": 240, "id": "76cc177e-8610-4ead-8b76-91b6fb181e9c"}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward until it is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and toward the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: press_release: Right hand presses the green block down to the bottom of the leftmost purple peg on the wooden base and releases the green block."}, {"label": "goal", "start_step": 241, "end_step": 384, "id": "cc76c10e-7bd0-4fc4-bd66-a2fd78cbe37c"}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the black table without moving."}, {"label": "goal", "start_step": 385, "end_step": 488, "id": "3737c949-9a8a-43ba-8e54-8fad7eb50759"}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and rightward to the upper left of the purple peg group."}, {"label": "subtasks", "start_step": 412, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning the block's hole with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "goal", "start_step": 489, "end_step": 624, "id": "1ab39887-0a64-4681-a344-c75efdfb2c40"}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand holds the white hollow block and moves downward to mate it onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 540, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: release_reach: Right hand releases the white hollow block on the leftmost purple peg and moves downward toward the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing around it."}, {"label": "goal", "start_step": 625, "end_step": 760, "id": "8d32999b-7ce9-4f76-9dc7-db8c38f72eb7"}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and forward toward the peg board."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost vertical peg of the wooden board by aligning and lowering it into position."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost peg of the board without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the purple vertical post on the wooden base and releases its grip."}, {"label": "goal", "start_step": 761, "end_step": 912, "id": "28da0b62-2a97-4fa0-aacb-e7f1e486ce08"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 913, "end_step": 1072, "id": "5973337d-a6e9-489e-9a67-b30e0a8e087d"}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden base, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 1073, "end_step": 1240, "id": "bc64f204-3ebc-410d-a360-64b092564495"}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 1241, "end_step": 1360, "id": "3c7e213b-fc5b-4d01-b9e6-83dfc1fa0c29"}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the table to the area above the wooden peg board."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto a vertical peg of the wooden peg board by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical peg of the wooden peg board without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1447, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the green vertical peg on the wooden base and releases its grip."}, {"label": "goal", "start_step": 1361, "end_step": 1568, "id": "4c6cf69a-09dc-4a53-ba8a-5b21eedd4eec"}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hollow hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the dark table surface with fingers closing and adjusting for stable grip."}, {"label": "goal", "start_step": 1569, "end_step": 1672, "id": "690e1c7b-20a0-4006-bff9-fc4118885129"}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and rightward toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with a peg on the wooden base and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white hollow cylinder onto the purple vertical rod and releases it."}, {"label": "goal", "start_step": 1673, "end_step": 1792, "id": "0f64f609-8596-4e3f-a3c1-63a1324e37ce"}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches for the white hexagonal block on the dark table surface near the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1807, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing and adjusting around it."}, {"label": "goal", "start_step": 1793, "end_step": 1896, "id": "4f5a0eb9-8121-42eb-9336-127037d82627"}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical piece upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: transport: Right hand transports the white cylindrical piece leftward and upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple rod on the wooden rack by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1890, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple rod on the wooden base and releases it."}, {"label": "goal", "start_step": 1897, "end_step": 2176, "id": "b194a23e-02d5-41be-8023-e87046f16af1"}, {"label": "subtasks", "start_step": 1988, "end_step": 2054, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2189, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 2177, "end_step": 2280, "id": "20795d6a-c0b8-42f1-b66c-f8a1f80454b9"}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it upward and leftward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand moves the white block downward to align and fit its hole onto the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: place_release: Right hand places the white block onto the purple peg on the right side of the wooden rack and releases it."}, {"label": "goal", "start_step": 2281, "end_step": 2464, "id": "f67f560b-2671-428c-9ccc-f45e83baeb61"}, {"label": "subtasks", "start_step": 2318, "end_step": 2377, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2444, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift: Right hand lifts the green cube upward away from the dark table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 2465, "end_step": 2600, "id": "60b8f008-a07e-4495-8076-c6fc1662dd16"}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward to the area above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the green block with the rightmost white post on the wooden base by aligning the block's hole with the post and lowering it down."}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the rightmost white post of the wooden base without moving."}, {"label": "home", "start_step": 2648, "end_step": 2677, "id": "Yp6rF5sSA-cidy3cBnFGS"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: retreat: Left hand moves leftward away from the central operation area of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block at the left front of the peg board, approaching the target without contact."}, {"label": "subtasks", "start_step": 22, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block at the left front of the peg board, approaching the target without contact."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block at the left front of the peg board, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward until it is completely separated from the black table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and toward the leftmost purple peg on the wooden board."}, {"label": "subtasks", "start_step": 195, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: press_release: Right hand presses the green block down to the bottom of the leftmost purple peg on the wooden base and releases the green block."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 360, "end_step": 389, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 390, "end_step": 411, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and rightward to the upper left of the purple peg group."}, {"label": "subtasks", "start_step": 412, "end_step": 479, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning the block's hole with the peg and inserting it downward."}, {"label": "subtasks", "start_step": 480, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 495, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand holds the white hollow block and moves downward to mate it onto the leftmost purple peg."}, {"label": "subtasks", "start_step": 540, "end_step": 591, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: release_reach: Right hand releases the white hollow block on the leftmost purple peg and moves downward toward the leftmost white hexagonal block on the table."}, {"label": "subtasks", "start_step": 592, "end_step": 637, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing around it."}, {"label": "subtasks", "start_step": 638, "end_step": 667, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and forward toward the peg board."}, {"label": "subtasks", "start_step": 668, "end_step": 719, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost vertical peg of the wooden board by aligning and lowering it into position."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost peg of the board without moving."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the purple vertical post on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 951, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 952, "end_step": 981, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 982, "end_step": 1064, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden base, moving the block downward to fit onto the peg."}, {"label": "subtasks", "start_step": 1065, "end_step": 1139, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1140, "end_step": 1169, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface."}, {"label": "subtasks", "start_step": 1170, "end_step": 1244, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1245, "end_step": 1267, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the table to the area above the wooden peg board."}, {"label": "subtasks", "start_step": 1268, "end_step": 1327, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto a vertical peg of the wooden peg board by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1328, "end_step": 1349, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical peg of the wooden peg board without moving."}, {"label": "subtasks", "start_step": 1350, "end_step": 1447, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the green vertical peg on the wooden base and releases its grip."}, {"label": "subtasks", "start_step": 1448, "end_step": 1491, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hollow hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1492, "end_step": 1581, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the dark table surface with fingers closing and adjusting for stable grip."}, {"label": "subtasks", "start_step": 1582, "end_step": 1604, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and rightward toward the wooden base with pegs."}, {"label": "subtasks", "start_step": 1605, "end_step": 1664, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with a peg on the wooden base and lowers it to fit onto the peg."}, {"label": "subtasks", "start_step": 1665, "end_step": 1687, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white hollow cylinder onto the purple vertical rod and releases it."}, {"label": "subtasks", "start_step": 1688, "end_step": 1739, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches for the white hexagonal block on the dark table surface near the wooden base."}, {"label": "subtasks", "start_step": 1740, "end_step": 1807, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing and adjusting around it."}, {"label": "subtasks", "start_step": 1808, "end_step": 1829, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical piece upward until it is completely off the table surface."}, {"label": "subtasks", "start_step": 1830, "end_step": 1851, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: transport: Right hand transports the white cylindrical piece leftward and upward to the position above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1852, "end_step": 1889, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple rod on the wooden rack by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1890, "end_step": 1987, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple rod on the wooden base and releases it."}, {"label": "subtasks", "start_step": 1988, "end_step": 2054, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 2055, "end_step": 2189, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 2190, "end_step": 2219, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it upward and leftward to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2279, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand moves the white block downward to align and fit its hole onto the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 2280, "end_step": 2317, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: place_release: Right hand places the white block onto the purple peg on the right side of the wooden rack and releases it."}, {"label": "subtasks", "start_step": 2318, "end_step": 2377, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2444, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift: Right hand lifts the green cube upward away from the dark table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2481, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 2482, "end_step": 2504, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward to the area above the rightmost white post on the wooden base."}, {"label": "subtasks", "start_step": 2505, "end_step": 2557, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the green block with the rightmost white post on the wooden base by aligning the block's hole with the post and lowering it down."}, {"label": "subtasks", "start_step": 2558, "end_step": 2609, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the rightmost white post of the wooden base without moving."}], "episode_index": 39}
+{"source_uid": "e2dea0ddaf15b2bf", "num_frames": 2438, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves to its home position at the left side of the black table. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "goal", "start_step": 0, "end_step": 208, "id": "dcc1f28e-1820-4fee-907c-096bfc9f67b7"}, {"label": "valid", "start_step": 0, "end_step": 2407, "id": "cZw2lEygxFfGxS_-aTBm3"}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 98, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal block."}, {"label": "goal", "start_step": 209, "end_step": 320, "id": "e2f311a6-e778-43bb-adaa-cda030d4bee0"}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate_place: Right hand aligns the green hexagonal block with the purple rod and places it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: press: Right hand presses the white block downward onto the purple post of the wooden base."}, {"label": "goal", "start_step": 321, "end_step": 464, "id": "14151af8-8956-45a4-abe1-788b1e0b57cb"}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the purple rod on the wooden base."}, {"label": "goal", "start_step": 465, "end_step": 616, "id": "19ef5959-c5bf-4bcb-930b-b9162929609c"}, {"label": "subtasks", "start_step": 502, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it downwards onto the rod."}, {"label": "subtasks", "start_step": 615, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "goal", "start_step": 617, "end_step": 752, "id": "cb45c47d-a842-4a17-b1d1-51a0ed9e0153"}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "goal", "start_step": 753, "end_step": 872, "id": "fb080c5e-0903-446f-99c9-7e8e1b2341bd"}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the wooden base with vertical rods."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the target rod of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden peg base."}, {"label": "goal", "start_step": 873, "end_step": 992, "id": "da6ebec3-ce44-4115-aaa7-a0d35b91b33c"}, {"label": "subtasks", "start_step": 915, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting fingers to establish a stable grasp."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift: Right hand lifts the white hollow block from the black table surface."}, {"label": "goal", "start_step": 993, "end_step": 1096, "id": "7ca503ba-f9a7-4180-80e8-937614b43d8a"}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: transport: Right hand transports the white hollow block above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1154, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand inserts the white hollow block onto the purple post on the wooden base to complete assembly."}, {"label": "goal", "start_step": 1097, "end_step": 1288, "id": "73317493-c4db-452b-b7a1-1e45680b0b78"}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: release: Right hand releases the white ring that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1267, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black table surface."}, {"label": "goal", "start_step": 1289, "end_step": 1400, "id": "2ffec48e-c726-4e6c-9102-97e8d6edd496"}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the green hexagonal block with the target peg on the wooden rack by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "goal", "start_step": 1401, "end_step": 1544, "id": "e0ffce9a-00a6-43f0-a4fb-81295f29025a"}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand adjusts fingers to stably grasp the white cylindrical object on the table."}, {"label": "goal", "start_step": 1545, "end_step": 1680, "id": "5c8608c8-e056-4df5-a4e1-56bfb5e76f69"}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and moves it towards the wooden assembly rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand aligns the white cylindrical object with the target peg on the assembly rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: hold: Right hand holds the inserted white cylindrical object on the assembly rack without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base block tower."}, {"label": "goal", "start_step": 1681, "end_step": 1800, "id": "1e3622ac-d7c2-4428-9991-c6579f902cd6"}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand reaches toward the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the table near the wooden base with finger adjustment."}, {"label": "goal", "start_step": 1801, "end_step": 1936, "id": "4cf37a0b-1bf8-4ab1-bd7e-b98c26ed4d27"}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place_release: Right hand places the white block onto the top of the purple rod on the wooden base, then releases the block."}, {"label": "goal", "start_step": 1937, "end_step": 2048, "id": "c446b842-624a-4ce1-b3fb-501e2e3017dd"}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2032, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the black table."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: transport: Right hand transports the white block from the table surface towards the wooden block rack."}, {"label": "goal", "start_step": 2049, "end_step": 2152, "id": "37a04037-2b30-40a0-96a9-a89111ac52d0"}, {"label": "subtasks", "start_step": 2078, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand aligns the white block with the purple rod on the wooden rack and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2153, "end_step": 2281, "id": "8206f1a1-a59e-46a1-9df5-9b9185d9d6d2"}, {"label": "subtasks", "start_step": 2182, "end_step": 2227, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2228, "end_step": 2287, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 2282, "end_step": 2345, "id": "4f4cb658-b0bd-4e16-b071-8de0f7dd5fd0"}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift: Right hand lifts the green cubic block away from the black table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: transport_place: Right hand carries the green cubic block toward the purple rod on the wooden base and places it onto the rod."}, {"label": "home", "start_step": 2408, "end_step": 2437, "id": "8le1phYAli5eUfkC0EGMf"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves to its home position at the left side of the black table. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 52, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 98, "end_step": 224, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it above the target purple rod on the wooden base."}, {"label": "subtasks", "start_step": 255, "end_step": 284, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate_place: Right hand aligns the green hexagonal block with the purple rod and places it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 285, "end_step": 314, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 315, "end_step": 397, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: press: Right hand presses the white block downward onto the purple post of the wooden base."}, {"label": "subtasks", "start_step": 398, "end_step": 419, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 501, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 502, "end_step": 614, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it downwards onto the rod."}, {"label": "subtasks", "start_step": 615, "end_step": 667, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 668, "end_step": 704, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 705, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 780, "end_step": 801, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the wooden base with vertical rods."}, {"label": "subtasks", "start_step": 802, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the target rod of the wooden base."}, {"label": "subtasks", "start_step": 870, "end_step": 914, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden peg base."}, {"label": "subtasks", "start_step": 915, "end_step": 989, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting fingers to establish a stable grasp."}, {"label": "subtasks", "start_step": 990, "end_step": 1019, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift: Right hand lifts the white hollow block from the black table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: transport: Right hand transports the white hollow block above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 1050, "end_step": 1154, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand inserts the white hollow block onto the purple post on the wooden base to complete assembly."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: release: Right hand releases the white ring that is fitted on the purple rod."}, {"label": "subtasks", "start_step": 1170, "end_step": 1267, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves toward the green square block placed on the black table surface."}, {"label": "subtasks", "start_step": 1268, "end_step": 1297, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black table surface."}, {"label": "subtasks", "start_step": 1298, "end_step": 1319, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the target peg on the wooden rack."}, {"label": "subtasks", "start_step": 1320, "end_step": 1341, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the green hexagonal block with the target peg on the wooden rack by lowering it onto the peg."}, {"label": "subtasks", "start_step": 1342, "end_step": 1394, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1395, "end_step": 1431, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1432, "end_step": 1477, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}, {"label": "subtasks", "start_step": 1478, "end_step": 1544, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1545, "end_step": 1559, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand adjusts fingers to stably grasp the white cylindrical object on the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1589, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and moves it towards the wooden assembly rack."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand aligns the white cylindrical object with the target peg on the assembly rack and inserts it onto the peg."}, {"label": "subtasks", "start_step": 1635, "end_step": 1679, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: hold: Right hand holds the inserted white cylindrical object on the assembly rack without moving."}, {"label": "subtasks", "start_step": 1680, "end_step": 1717, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base block tower."}, {"label": "subtasks", "start_step": 1718, "end_step": 1747, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand reaches toward the white cylindrical block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1748, "end_step": 1821, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the table near the wooden base with finger adjustment."}, {"label": "subtasks", "start_step": 1822, "end_step": 1859, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it to above the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1934, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1957, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place_release: Right hand places the white block onto the top of the purple rod on the wooden base, then releases the block."}, {"label": "subtasks", "start_step": 1958, "end_step": 1994, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 1995, "end_step": 2031, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}, {"label": "subtasks", "start_step": 2032, "end_step": 2039, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the black table."}, {"label": "subtasks", "start_step": 2040, "end_step": 2077, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: transport: Right hand transports the white block from the table surface towards the wooden block rack."}, {"label": "subtasks", "start_step": 2078, "end_step": 2144, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand aligns the white block with the purple rod on the wooden rack and inserts it to complete assembly."}, {"label": "subtasks", "start_step": 2145, "end_step": 2181, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2182, "end_step": 2227, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves toward the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 2228, "end_step": 2287, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 2288, "end_step": 2317, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift: Right hand lifts the green cubic block away from the black table surface."}, {"label": "subtasks", "start_step": 2318, "end_step": 2354, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: transport_place: Right hand carries the green cubic block toward the purple rod on the wooden base and places it onto the rod."}], "episode_index": 40}
+{"source_uid": "1be89acc6b10addd", "num_frames": 2690, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty upward to the left home position in front of the workspace and comes to a stop. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block located in front-left of the wooden assembly base, with fingers slightly extended during the movement."}, {"label": "goal", "start_step": 0, "end_step": 136, "id": "9af4fc51-db61-494f-9ad6-dfd0482042a6"}, {"label": "valid", "start_step": 0, "end_step": 2658, "id": "woz0Dcj9Z4C3BOeFBXk6r"}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block located in front-left of the wooden assembly base, with fingers slightly extended during the movement."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand contacts the target green hexagonal block, closing fingers and adjusting contact positions to establish a grasp on the block."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it completely off the dark table surface, and moves it to the position directly above the leftmost purple peg on the light wooden base."}, {"label": "goal", "start_step": 137, "end_step": 216, "id": "1215dce9-de92-462e-a3d3-d9ad88785598"}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and moves it downward to fit the block onto the peg until the block rests stably on the underlying green block."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the mated green hexagonal block on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand holds a white hexagonal block, aligns it with the purple peg on the light wooden base, and nests it onto the peg to complete assembly."}, {"label": "goal", "start_step": 217, "end_step": 336, "id": "527453f0-9b30-43da-957f-fd00565fa7dc"}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves downward empty from the wooden base area, approaching the white hexagonal block placed on the black table surface in front of the base."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting contact to form a stable grasp."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface."}, {"label": "goal", "start_step": 337, "end_step": 448, "id": "3e6b6c3c-7ab5-477c-a26b-187dd73ccbf0"}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, lowers it to nest onto the peg until the block rests on the green supporting block below."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the nested white hexagonal block on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand holds a white hexagonal block, aligns it with the purple peg on the wooden base, and slides it down to fit onto the peg above the stacked green block."}, {"label": "goal", "start_step": 449, "end_step": 688, "id": "245a8332-e3d9-488b-8de0-427546e9bdb4"}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating from the block on the purple peg."}, {"label": "subtasks", "start_step": 502, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: idle: Right hand remains empty above the wooden peg base without moving."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward from the area above the peg base toward the leftmost white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand makes contact with the leftmost white hexagonal block on the table, closes fingers around the block and adjusts contact positions to establish a grasp."}, {"label": "goal", "start_step": 689, "end_step": 800, "id": "944120ff-3c46-44fa-907d-0bcc8bf73998"}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the white hexagonal nut closest to the wooden base, with an empty hand."}, {"label": "goal", "start_step": 801, "end_step": 888, "id": "18687795-da1e-455e-a4c3-597301fabfda"}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the closest white hexagonal nut to establish a stable grip."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without any observable movement."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block placed on the dark table near the wooden peg stand to form a stable grasp."}, {"label": "goal", "start_step": 889, "end_step": 976, "id": "19240cd2-7d0f-4d78-8082-ae25b2b22762"}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand moves vertically upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the empty purple peg on the wooden stand, moving the block to the area above the peg."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand makes slight positional and rotational adjustments to align the central hole of the white hexagonal block with the purple peg, then lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it vertically along the purple peg on the wooden base until the block rests on the base surface, with fingers opening to separate from the block."}, {"label": "goal", "start_step": 977, "end_step": 1112, "id": "47e81d52-7196-49a8-8e40-af28430c52eb"}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block positioned near the front of the wooden base, approaching the block surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and contact points to close around the green hexagonal block on the dark table surface, working to establish a stable grip."}, {"label": "goal", "start_step": 1113, "end_step": 1256, "id": "e65b7f43-6a35-42ff-9b98-79742de11e26"}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the dark table surface and transports it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden assembly base, fitting the block down onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: place_release: Right hand lowers the green hexagonal block onto the matching purple post on the wooden base, opening fingers to release the block."}, {"label": "goal", "start_step": 1257, "end_step": 1384, "id": "283e72f2-b5fe-40d8-b6e5-2c67b04b1376"}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty in a downward direction toward the white hexagonal block resting on the black table surface to the left of the loose green block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to establish a stable grip on the block."}, {"label": "goal", "start_step": 1385, "end_step": 1520, "id": "48eb9511-b61c-4648-9374-eff7f496472f"}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden assembly base in the upper middle of the frame."}, {"label": "subtasks", "start_step": 1448, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple vertical rod on the wooden base and fits the block onto the rod to establish the assembly connection."}, {"label": "goal", "start_step": 1521, "end_step": 1784, "id": "6adfb554-727d-4263-9366-0ec32682c77c"}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: release_reach: Right hand releases the fitted white cylindrical block from its grasp and moves empty toward the white hexagonal block near the wooden base, with fingers approaching the target block on the tabletop."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the small white hexagonal block resting on the table near the wooden block base."}, {"label": "goal", "start_step": 1785, "end_step": 1904, "id": "62b9ba22-d3ba-4168-a0f6-d91d96e4018a"}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface, then moves it upward and leftward toward the empty position on the wooden block base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the vertical post on the wooden base and fits the block onto the post."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block securely positioned on the wooden base post without observable movement."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the black table surface, approaching the target block without making contact."}, {"label": "goal", "start_step": 1905, "end_step": 2016, "id": "be0178c1-1eef-4068-a578-79eeceb866fb"}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger positions to close around the block during grasp formation."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the small white block on the black table surface without observable movement of the hand or the block."}, {"label": "goal", "start_step": 2017, "end_step": 2128, "id": "b3f89120-67b8-4768-a59b-434ca557b4a0"}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the small white block off the black table surface and moves it upward to the position above the wooden storage rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the small white block with the purple vertical rod on the wooden rack and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base, with fingers opening to separate from the block surface."}, {"label": "goal", "start_step": 2129, "end_step": 2280, "id": "f722b4b3-1f73-4e4a-ba10-3cab0c607974"}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: retreat: Right hand moves empty upward and rightward, retreating away from the wooden base operation area."}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2198, "end_step": 2271, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand contacts the green cubic block on the table, with fingers adjusting positions and closing to form a stable grasp while the block stays on the supporting surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2279, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand lifts the grasped green cubic block upward, moving the block completely off the dark table surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand grips the green block, lifts it completely off the dark table surface, and moves it upward and leftward to the position directly above the white cylindrical object on the wooden tray."}, {"label": "goal", "start_step": 2281, "end_step": 2600, "id": "017914e3-aaf6-4a97-a2d8-67f4096a5059"}, {"label": "subtasks", "start_step": 2340, "end_step": 2609, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand holds the green block, makes slight continuous adjustments to its position and orientation to align the block with the top of the white cylindrical object below for nesting."}, {"label": "home", "start_step": 2659, "end_step": 2689, "id": "B1pNgooasincnoxtsmF_y"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 29, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves empty upward to the left home position in front of the workspace and comes to a stop. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block located in front-left of the wooden assembly base, with fingers slightly extended during the movement."}, {"label": "subtasks", "start_step": 30, "end_step": 89, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block located in front-left of the wooden assembly base, with fingers slightly extended during the movement."}, {"label": "subtasks", "start_step": 90, "end_step": 134, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand contacts the target green hexagonal block, closing fingers and adjusting contact positions to establish a grasp on the block."}, {"label": "subtasks", "start_step": 135, "end_step": 164, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it completely off the dark table surface, and moves it to the position directly above the leftmost purple peg on the light wooden base."}, {"label": "subtasks", "start_step": 165, "end_step": 194, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and moves it downward to fit the block onto the peg until the block rests stably on the underlying green block."}, {"label": "subtasks", "start_step": 195, "end_step": 209, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the mated green hexagonal block on the purple peg without any observable movement."}, {"label": "subtasks", "start_step": 210, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand holds a white hexagonal block, aligns it with the purple peg on the light wooden base, and nests it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 262, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves downward empty from the wooden base area, approaching the white hexagonal block placed on the black table surface in front of the base."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting contact to form a stable grasp."}, {"label": "subtasks", "start_step": 330, "end_step": 344, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface."}, {"label": "subtasks", "start_step": 345, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block to position it directly above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 360, "end_step": 404, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, lowers it to nest onto the peg until the block rests on the green supporting block below."}, {"label": "subtasks", "start_step": 405, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the nested white hexagonal block on the purple peg without observable movement."}, {"label": "subtasks", "start_step": 435, "end_step": 487, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand holds a white hexagonal block, aligns it with the purple peg on the wooden base, and slides it down to fit onto the peg above the stacked green block."}, {"label": "subtasks", "start_step": 488, "end_step": 501, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating from the block on the purple peg."}, {"label": "subtasks", "start_step": 502, "end_step": 577, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: idle: Right hand remains empty above the wooden peg base without moving."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward from the area above the peg base toward the leftmost white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 697, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand makes contact with the leftmost white hexagonal block on the table, closes fingers around the block and adjusts contact positions to establish a grasp."}, {"label": "subtasks", "start_step": 698, "end_step": 727, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple peg on the wooden block base."}, {"label": "subtasks", "start_step": 728, "end_step": 794, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and moves it downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 795, "end_step": 831, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the white hexagonal nut closest to the wooden base, with an empty hand."}, {"label": "subtasks", "start_step": 832, "end_step": 861, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the closest white hexagonal nut to establish a stable grip."}, {"label": "subtasks", "start_step": 862, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without any observable movement."}, {"label": "subtasks", "start_step": 885, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block placed on the dark table near the wooden peg stand to form a stable grasp."}, {"label": "subtasks", "start_step": 900, "end_step": 914, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand moves vertically upward to lift the grasped white hexagonal block completely off the table surface."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the empty purple peg on the wooden stand, moving the block to the area above the peg."}, {"label": "subtasks", "start_step": 930, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand makes slight positional and rotational adjustments to align the central hole of the white hexagonal block with the purple peg, then lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 975, "end_step": 1034, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it vertically along the purple peg on the wooden base until the block rests on the base surface, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block positioned near the front of the wooden base, approaching the block surface."}, {"label": "subtasks", "start_step": 1050, "end_step": 1124, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and contact points to close around the green hexagonal block on the dark table surface, working to establish a stable grip."}, {"label": "subtasks", "start_step": 1125, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the dark table surface and transports it upward to the position above the purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1244, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden assembly base, fitting the block down onto the peg to establish the assembly connection."}, {"label": "subtasks", "start_step": 1245, "end_step": 1281, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: place_release: Right hand lowers the green hexagonal block onto the matching purple post on the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 1282, "end_step": 1327, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty in a downward direction toward the white hexagonal block resting on the black table surface to the left of the loose green block."}, {"label": "subtasks", "start_step": 1328, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to establish a stable grip on the block."}, {"label": "subtasks", "start_step": 1410, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block until it is completely separated from the table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1447, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden assembly base in the upper middle of the frame."}, {"label": "subtasks", "start_step": 1448, "end_step": 1724, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple vertical rod on the wooden base and fits the block onto the rod to establish the assembly connection."}, {"label": "subtasks", "start_step": 1725, "end_step": 1784, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: release_reach: Right hand releases the fitted white cylindrical block from its grasp and moves empty toward the white hexagonal block near the wooden base, with fingers approaching the target block on the tabletop."}, {"label": "subtasks", "start_step": 1785, "end_step": 1807, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the small white hexagonal block resting on the table near the wooden block base."}, {"label": "subtasks", "start_step": 1808, "end_step": 1859, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface, then moves it upward and leftward toward the empty position on the wooden block base."}, {"label": "subtasks", "start_step": 1860, "end_step": 1874, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the vertical post on the wooden base and fits the block onto the post."}, {"label": "subtasks", "start_step": 1875, "end_step": 1904, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block securely positioned on the wooden base post without observable movement."}, {"label": "subtasks", "start_step": 1905, "end_step": 1964, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the black table surface, approaching the target block without making contact."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger positions to close around the block during grasp formation."}, {"label": "subtasks", "start_step": 2010, "end_step": 2047, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the small white block on the black table surface without observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 2048, "end_step": 2084, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the small white block off the black table surface and moves it upward to the position above the wooden storage rack."}, {"label": "subtasks", "start_step": 2085, "end_step": 2114, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the small white block with the purple vertical rod on the wooden rack and fits the block onto the rod."}, {"label": "subtasks", "start_step": 2115, "end_step": 2151, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base, with fingers opening to separate from the block surface."}, {"label": "subtasks", "start_step": 2152, "end_step": 2181, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: retreat: Right hand moves empty upward and rightward, retreating away from the wooden base operation area."}, {"label": "subtasks", "start_step": 2182, "end_step": 2197, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, approaching the target without making contact."}, {"label": "subtasks", "start_step": 2198, "end_step": 2271, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand contacts the green cubic block on the table, with fingers adjusting positions and closing to form a stable grasp while the block stays on the supporting surface."}, {"label": "subtasks", "start_step": 2272, "end_step": 2279, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand lifts the grasped green cubic block upward, moving the block completely off the dark table surface."}, {"label": "subtasks", "start_step": 2280, "end_step": 2339, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand grips the green block, lifts it completely off the dark table surface, and moves it upward and leftward to the position directly above the white cylindrical object on the wooden tray."}, {"label": "subtasks", "start_step": 2340, "end_step": 2609, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand holds the green block, makes slight continuous adjustments to its position and orientation to align the block with the top of the white cylindrical object below for nesting."}], "episode_index": 41}
+{"source_uid": "4a293426108165ef", "num_frames": 2592, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and inward toward the center of the table while remaining empty, with no contact with any objects. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed in front of the wooden block stand, remaining empty with no object contact."}, {"label": "goal", "start_step": 0, "end_step": 184, "id": "e90127b9-8dd7-4e20-9c40-235a400cfe8f"}, {"label": "valid", "start_step": 0, "end_step": 2560, "id": "71d4sVOv3LPXpFcrQCi5U"}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed in front of the wooden block stand, remaining empty with no object contact."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, adjusting finger contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the green hexagonal block on the table surface steadily, with no visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the dark table surface adjacent to the wooden peg board to establish a stable grip, with the block remaining on the table."}, {"label": "goal", "start_step": 185, "end_step": 264, "id": "974c2f64-5811-4e86-b91e-127d5bb38b37"}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the suspended green hexagonal block through the air to position it directly above the empty purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place: Right hand lowers the green hexagonal block downward onto the target purple peg until the block is stably supported by the wooden peg board."}, {"label": "subtasks", "start_step": 248, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward along the purple peg to set the block stably on the wooden base, fingers opening to release the block as it settles on the base."}, {"label": "goal", "start_step": 265, "end_step": 408, "id": "1299601c-861c-4cab-a89e-c9b131e8e0ea"}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty in a downward direction from the wooden base area toward the target white hexagonal block resting on the dark table surface, remaining out of contact with the block."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand makes contact with the target white hexagonal block, closes fingers around the block and makes small grip adjustments to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand maintains a firm grip on the white hexagonal block, lifts the block fully off the table surface, and moves the block upward toward the pegs mounted on the wooden base."}, {"label": "goal", "start_step": 409, "end_step": 480, "id": "8dbaa618-b658-4698-8878-1bc38bd7d238"}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, lowers the block to fit onto the peg and seat it firmly on the underlying green block."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand positions the white hexagonal cap onto the green cylindrical post on the wooden assembly base, opening fingers to release the fully seated cap."}, {"label": "goal", "start_step": 481, "end_step": 632, "id": "7df44eae-4cf0-4417-b6dc-e8b1462c683d"}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the targeted white hexagonal block on the dark table surface, adjusting finger contact points to form a stable grip while the block remains supported by the table."}, {"label": "goal", "start_step": 633, "end_step": 712, "id": "8d6b3ee5-3a25-4e66-9dc7-918362d9221c"}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black worktable, moving it upward to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base, sliding it down to fit onto the post."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any visible movement."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: press_release: Right hand holds the white cylindrical block on the left purple peg, presses it straight down along the peg to seat it firmly against the block below, and opens fingers to release the seated block."}, {"label": "goal", "start_step": 713, "end_step": 840, "id": "27ef84e1-3260-4fb8-b34c-9bd578cec2dc"}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty in a downward-forward direction toward the white hexagonal block resting on the black table surface in front of the wooden assembly base, stopping immediately adjacent to the target block."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal block on the table, making small adjustments of the fingers and wrist to establish a stable hold on the block, which remains resting on the table surface."}, {"label": "goal", "start_step": 841, "end_step": 936, "id": "8529881e-9397-4a78-ae75-27f110d96511"}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and transports it upward to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple post and moves it downward to fit the cylinder onto the post."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand lowers the gripped white hexagonal nut down onto the middle purple post on the wooden assembly base, releasing the nut as it becomes stably supported by the post."}, {"label": "goal", "start_step": 937, "end_step": 1048, "id": "15936a84-ec94-421d-8592-d74301a20c17"}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves downward with an empty grip toward the front green hexagonal block resting on the dark table surface, approaching the block prior to contact."}, {"label": "subtasks", "start_step": 1012, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand contacts the top surface of the front green hexagonal block and adjusts finger positioning to establish a stable grasp on the block."}, {"label": "goal", "start_step": 1049, "end_step": 1128, "id": "b77be3c4-9a29-4b78-a6cf-6b9da1103731"}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward to completely raise it off the dark work surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand moves the grasped green hexagonal block upward and toward the wooden stand holding stacked blocks."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the green hexagonal block with the vertical post on the wooden stand and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand moves the held green hexagonal block downward to seat it on the purple peg of the wooden base, with fingers opening to release the seated block."}, {"label": "goal", "start_step": 1129, "end_step": 1304, "id": "8ea63758-12d5-4a14-a14d-8d2a30fc90a2"}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves with open fingers downward toward the white hexagonal nut resting on the dark table surface, approaching the target nut."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making small finger position adjustments to form a stable grip while the nut remains supported by the table."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand holds the gripped white hexagonal nut and moves it upward, lifting the nut completely off the dark table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand holds the white hexagonal block, moves upward and toward the top of the purple rod on the stacked block assembly."}, {"label": "goal", "start_step": 1305, "end_step": 1360, "id": "2214aac2-ef2f-4b9b-be16-568cca759b5c"}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the held white hexagonal block with the top of the purple rod, lowers the block to fit it onto the rod to complete the assembly."}, {"label": "goal", "start_step": 1361, "end_step": 1552, "id": "3cb36d57-29dd-442c-8dbd-fd538939a155"}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block on the purple rod, separating from the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed near the right edge of the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand makes contact with the target white hexagonal block near the wooden base, fingers close and adjust to establish grasp on the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand holds the small white cylinder and moves it upward and leftward toward the purple rod on the wooden stacking block set."}, {"label": "goal", "start_step": 1553, "end_step": 1608, "id": "849533aa-f82f-4ecf-bc48-01a5d8207cbc"}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the held white cylinder with the purple rod and lowers it to fit the cylinder onto the rod until the cylinder rests on the wooden base."}, {"label": "goal", "start_step": 1609, "end_step": 1720, "id": "02e38aaa-4a0f-4c97-a2f2-126ce48f6f5f"}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold_release: Right hand holds the white cylinder steady on the purple rod briefly, then opens fingers to release the cylinder."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the small white ring-shaped object on the dark table surface without observable movement."}, {"label": "goal", "start_step": 1721, "end_step": 1928, "id": "9ffe91e7-9a41-4d4c-bba3-f1a4e3b12b07"}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand slightly adjusts its fingers to stabilize the grasp on the white ring-shaped object resting on the dark table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand lifts the white ring-shaped object off the dark table surface, transporting it upward to the position directly above the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the central hole of the grasped white ring-shaped object with the purple vertical rod, fitting the ring onto the top of the rod for assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand slides the white ring-shaped object down along the purple vertical rod until it rests on the supporting white cylinder below, opening its fingers to release the object."}, {"label": "goal", "start_step": 1929, "end_step": 2040, "id": "c7633724-3e4a-4723-94fa-f3df63fa6da4"}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty diagonally downwards toward the green cubic block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the green cubic block, making small adjustments to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand moves upwards to raise the grasped green cubic block completely off the dark work surface."}, {"label": "goal", "start_step": 2041, "end_step": 2528, "id": "51eed213-bb6d-4268-8682-07d5a43f789c"}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the green block upward and toward the wooden tray, moving the block to the position above the white bottle on the tray."}, {"label": "subtasks", "start_step": 2092, "end_step": 2279, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align its hole with the purple rod on the white bottle top, making small wrist and finger movements during the alignment attempt."}, {"label": "subtasks", "start_step": 2280, "end_step": 2354, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the green block away from the tray area after the failed alignment, moving the block back down to the right side of the black table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place: Right hand lowers the green block until it rests on the black table surface, supported by the table."}, {"label": "subtasks", "start_step": 2370, "end_step": 2437, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand makes small finger and wrist adjustments to re-grip the green block stably on the table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2451, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand lifts the regripped green block upward from the table surface again until the block is fully off the table."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00060", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the green block upward toward the top of the white bottle on the tray for the second placement attempt."}, {"label": "subtasks", "start_step": 2490, "end_step": 2534, "id": "reasoning-language-00061", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod on the white bottle top, and fits the block onto the rod until the block is stably supported by the bottle."}, {"label": "home", "start_step": 2561, "end_step": 2591, "id": "J85btDYXZgcfxoXNLoBNb"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 37, "id": "reasoning-language-00001", "text": "Left hand: reach: Left hand moves upward and inward toward the center of the table while remaining empty, with no contact with any objects. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed in front of the wooden block stand, remaining empty with no object contact."}, {"label": "subtasks", "start_step": 38, "end_step": 97, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed in front of the wooden block stand, remaining empty with no object contact."}, {"label": "subtasks", "start_step": 98, "end_step": 164, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, adjusting finger contact positions to establish a grip on the block."}, {"label": "subtasks", "start_step": 165, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the green hexagonal block on the table surface steadily, with no visible movement of the hand, fingers or the block."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the dark table surface adjacent to the wooden peg board to establish a stable grip, with the block remaining on the table."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the suspended green hexagonal block through the air to position it directly above the empty purple peg on the wooden peg board."}, {"label": "subtasks", "start_step": 232, "end_step": 247, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place: Right hand lowers the green hexagonal block downward onto the target purple peg until the block is stably supported by the wooden peg board."}, {"label": "subtasks", "start_step": 248, "end_step": 254, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 255, "end_step": 307, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward along the purple peg to set the block stably on the wooden base, fingers opening to release the block as it settles on the base."}, {"label": "subtasks", "start_step": 308, "end_step": 351, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty in a downward direction from the wooden base area toward the target white hexagonal block resting on the dark table surface, remaining out of contact with the block."}, {"label": "subtasks", "start_step": 352, "end_step": 374, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand makes contact with the target white hexagonal block, closes fingers around the block and makes small grip adjustments to form a stable grasp, with the block remaining on the table surface."}, {"label": "subtasks", "start_step": 375, "end_step": 434, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand maintains a firm grip on the white hexagonal block, lifts the block fully off the table surface, and moves the block upward toward the pegs mounted on the wooden base."}, {"label": "subtasks", "start_step": 435, "end_step": 464, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, lowers the block to fit onto the peg and seat it firmly on the underlying green block."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple peg without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 480, "end_step": 531, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand positions the white hexagonal cap onto the green cylindrical post on the wooden assembly base, opening fingers to release the fully seated cap."}, {"label": "subtasks", "start_step": 532, "end_step": 577, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface, approaching the block without making contact."}, {"label": "subtasks", "start_step": 578, "end_step": 644, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the targeted white hexagonal block on the dark table surface, adjusting finger contact points to form a stable grip while the block remains supported by the table."}, {"label": "subtasks", "start_step": 645, "end_step": 674, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black worktable, moving it upward to the position above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base, sliding it down to fit onto the post."}, {"label": "subtasks", "start_step": 698, "end_step": 704, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any visible movement."}, {"label": "subtasks", "start_step": 705, "end_step": 749, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: press_release: Right hand holds the white cylindrical block on the left purple peg, presses it straight down along the peg to seat it firmly against the block below, and opens fingers to release the seated block."}, {"label": "subtasks", "start_step": 750, "end_step": 794, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty in a downward-forward direction toward the white hexagonal block resting on the black table surface in front of the wooden assembly base, stopping immediately adjacent to the target block."}, {"label": "subtasks", "start_step": 795, "end_step": 869, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal block on the table, making small adjustments of the fingers and wrist to establish a stable hold on the block, which remains resting on the table surface."}, {"label": "subtasks", "start_step": 870, "end_step": 884, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and transports it upward to the position directly above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple post and moves it downward to fit the cylinder onto the post."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand lowers the gripped white hexagonal nut down onto the middle purple post on the wooden assembly base, releasing the nut as it becomes stably supported by the post."}, {"label": "subtasks", "start_step": 982, "end_step": 1011, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves downward with an empty grip toward the front green hexagonal block resting on the dark table surface, approaching the block prior to contact."}, {"label": "subtasks", "start_step": 1012, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand contacts the top surface of the front green hexagonal block and adjusts finger positioning to establish a stable grasp on the block."}, {"label": "subtasks", "start_step": 1058, "end_step": 1071, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward to completely raise it off the dark work surface."}, {"label": "subtasks", "start_step": 1072, "end_step": 1094, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand moves the grasped green hexagonal block upward and toward the wooden stand holding stacked blocks."}, {"label": "subtasks", "start_step": 1095, "end_step": 1124, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the green hexagonal block with the vertical post on the wooden stand and lowers it to fit onto the post."}, {"label": "subtasks", "start_step": 1125, "end_step": 1169, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand moves the held green hexagonal block downward to seat it on the purple peg of the wooden base, with fingers opening to release the seated block."}, {"label": "subtasks", "start_step": 1170, "end_step": 1214, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves with open fingers downward toward the white hexagonal nut resting on the dark table surface, approaching the target nut."}, {"label": "subtasks", "start_step": 1215, "end_step": 1274, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making small finger position adjustments to form a stable grip while the nut remains supported by the table."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand holds the gripped white hexagonal nut and moves it upward, lifting the nut completely off the dark table surface."}, {"label": "subtasks", "start_step": 1305, "end_step": 1341, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand holds the white hexagonal block, moves upward and toward the top of the purple rod on the stacked block assembly."}, {"label": "subtasks", "start_step": 1342, "end_step": 1424, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the held white hexagonal block with the top of the purple rod, lowers the block to fit it onto the rod to complete the assembly."}, {"label": "subtasks", "start_step": 1425, "end_step": 1439, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block on the purple rod, separating from the block."}, {"label": "subtasks", "start_step": 1440, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed near the right edge of the wooden base."}, {"label": "subtasks", "start_step": 1470, "end_step": 1544, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand makes contact with the target white hexagonal block near the wooden base, fingers close and adjust to establish grasp on the block."}, {"label": "subtasks", "start_step": 1545, "end_step": 1581, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand holds the small white cylinder and moves it upward and leftward toward the purple rod on the wooden stacking block set."}, {"label": "subtasks", "start_step": 1582, "end_step": 1641, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the held white cylinder with the purple rod and lowers it to fit the cylinder onto the rod until the cylinder rests on the wooden base."}, {"label": "subtasks", "start_step": 1642, "end_step": 1664, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold_release: Right hand holds the white cylinder steady on the purple rod briefly, then opens fingers to release the cylinder."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut placed on the dark table surface."}, {"label": "subtasks", "start_step": 1710, "end_step": 1754, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the small white ring-shaped object on the dark table surface without observable movement."}, {"label": "subtasks", "start_step": 1755, "end_step": 1791, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand slightly adjusts its fingers to stabilize the grasp on the white ring-shaped object resting on the dark table surface."}, {"label": "subtasks", "start_step": 1792, "end_step": 1821, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand lifts the white ring-shaped object off the dark table surface, transporting it upward to the position directly above the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 1822, "end_step": 1844, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the central hole of the grasped white ring-shaped object with the purple vertical rod, fitting the ring onto the top of the rod for assembly."}, {"label": "subtasks", "start_step": 1845, "end_step": 1949, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand slides the white ring-shaped object down along the purple vertical rod until it rests on the supporting white cylinder below, opening its fingers to release the object."}, {"label": "subtasks", "start_step": 1950, "end_step": 1987, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty diagonally downwards toward the green cubic block resting on the dark work surface."}, {"label": "subtasks", "start_step": 1988, "end_step": 2031, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the green cubic block, making small adjustments to form a stable grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 2032, "end_step": 2061, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand moves upwards to raise the grasped green cubic block completely off the dark work surface."}, {"label": "subtasks", "start_step": 2062, "end_step": 2091, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the green block upward and toward the wooden tray, moving the block to the position above the white bottle on the tray."}, {"label": "subtasks", "start_step": 2092, "end_step": 2279, "id": "reasoning-language-00055", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align its hole with the purple rod on the white bottle top, making small wrist and finger movements during the alignment attempt."}, {"label": "subtasks", "start_step": 2280, "end_step": 2354, "id": "reasoning-language-00056", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the green block away from the tray area after the failed alignment, moving the block back down to the right side of the black table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2369, "id": "reasoning-language-00057", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place: Right hand lowers the green block until it rests on the black table surface, supported by the table."}, {"label": "subtasks", "start_step": 2370, "end_step": 2437, "id": "reasoning-language-00058", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand makes small finger and wrist adjustments to re-grip the green block stably on the table surface."}, {"label": "subtasks", "start_step": 2438, "end_step": 2451, "id": "reasoning-language-00059", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand lifts the regripped green block upward from the table surface again until the block is fully off the table."}, {"label": "subtasks", "start_step": 2452, "end_step": 2489, "id": "reasoning-language-00060", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the green block upward toward the top of the white bottle on the tray for the second placement attempt."}, {"label": "subtasks", "start_step": 2490, "end_step": 2534, "id": "reasoning-language-00061", "text": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod on the white bottle top, and fits the block onto the rod until the block is stably supported by the bottle."}], "episode_index": 42}
+{"source_uid": "e8b82d91411b1d8c", "num_frames": 2470, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the leftmost green hexagonal block on the black table surface."}, {"label": "goal", "start_step": 0, "end_step": 160, "id": "b5c01fe1-2282-409a-96c2-a00d91bfca7f"}, {"label": "valid", "start_step": 0, "end_step": 2437, "id": "9vql_yKu5TsGREcnv9Bki"}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to contact and grasp the leftmost green hexagonal block, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the leftmost green hexagonal block without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block on the black table, fingers tightening to form a stable grip."}, {"label": "goal", "start_step": 161, "end_step": 272, "id": "34aa5603-ed5d-4870-b335-5a7fd741c3c6"}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward, away from the black table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block horizontally to the position above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green block onto the leftmost peg of the wooden base until the block is supported by the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green block onto the purple post on the wooden base and releases the block."}, {"label": "goal", "start_step": 273, "end_step": 440, "id": "58332ed5-0b9b-46e4-ba1e-82a9c3155176"}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 368, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 441, "end_step": 544, "id": "e9bd6872-c604-492a-add5-cf4767907238"}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod by lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the leftmost purple rod fixed on the wooden base."}, {"label": "goal", "start_step": 545, "end_step": 680, "id": "063d11fd-331f-482c-8e51-f1cfad00b9dc"}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the leftmost white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 681, "end_step": 760, "id": "8ac408f0-3194-4e72-886b-dfcd4a6bb953"}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "goal", "start_step": 761, "end_step": 904, "id": "e170cc61-9e6e-4d7c-8868-7c00b955de46"}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white cylindrical block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "goal", "start_step": 905, "end_step": 984, "id": "cc2f3246-aa36-47ef-9d97-0e2ba066f04e"}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 985, "end_step": 1144, "id": "bccf07aa-8061-48e8-8fca-38bd770dfb1a"}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green hexagonal block on the black tabletop."}, {"label": "goal", "start_step": 1145, "end_step": 1232, "id": "fb8ac0f9-dd23-4c5c-9819-a84595c14d84"}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it towards the wooden rack."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the vertical post on the wooden rack."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring onto the vertical post of the wooden base."}, {"label": "goal", "start_step": 1233, "end_step": 1488, "id": "961b8c1d-fdd5-4849-b686-616e910a7cc6"}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white ring on the table surface."}, {"label": "goal", "start_step": 1489, "end_step": 1592, "id": "f984f6bb-eafc-40ec-adad-1828d4d34299"}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and transports it towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white ring with the target rod on the wooden base and assembles it onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the post of the wooden base."}, {"label": "goal", "start_step": 1593, "end_step": 1728, "id": "8e1fcabb-0156-4c89-89cc-28127a5de599"}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white block on the table near the wooden base, with fingers closing around the block to adjust grip."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block upward slightly off the table surface."}, {"label": "goal", "start_step": 1729, "end_step": 1808, "id": "5510bea0-1044-45b9-9f02-97777fdcd4c5"}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring upward to the top of the target peg on the wooden block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the target peg on the wooden block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base with stacked blocks."}, {"label": "goal", "start_step": 1809, "end_step": 1960, "id": "5c8aee17-e72d-4217-aec3-37677ddf4a98"}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the dark table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the dark table surface."}, {"label": "goal", "start_step": 1961, "end_step": 2064, "id": "e06cc42d-695e-4566-a9da-55aa7280bcdf"}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white cubic block with the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cubic block along the purple rod until it is supported by the underlying block on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 2065, "end_step": 2208, "id": "0f912766-e438-4d30-8e51-6aaf3143a6b0"}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 2130, "end_step": 2181, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the green cubic block on the tabletop to form a stable grasp."}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green cubic block upward off the black tabletop."}, {"label": "goal", "start_step": 2209, "end_step": 2352, "id": "00a68a17-7770-4a44-9188-c34298fafa90"}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the top of the rightmost white column on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the green block down to place it onto the top of the target white column."}, {"label": "subtasks", "start_step": 2280, "end_step": 2354, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the green block to fit onto the white column to complete the assembly."}, {"label": "home", "start_step": 2438, "end_step": 2469, "id": "-GLvn9QcD6TOIRYmhLeGw"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 81, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the leftmost green hexagonal block on the black table surface."}, {"label": "subtasks", "start_step": 82, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to contact and grasp the leftmost green hexagonal block, adjusting grip to stabilize the block."}, {"label": "subtasks", "start_step": 135, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the leftmost green hexagonal block without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 201, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block on the black table, fingers tightening to form a stable grip."}, {"label": "subtasks", "start_step": 202, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward, away from the black table surface."}, {"label": "subtasks", "start_step": 218, "end_step": 231, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block horizontally to the position above the leftmost peg of the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 261, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green block onto the leftmost peg of the wooden base until the block is supported by the peg."}, {"label": "subtasks", "start_step": 262, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost peg of the wooden base without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green block onto the purple post on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 330, "end_step": 367, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 368, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 472, "end_step": 517, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod by lowering it to fit onto the rod."}, {"label": "subtasks", "start_step": 518, "end_step": 539, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod without moving."}, {"label": "subtasks", "start_step": 540, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the leftmost purple rod fixed on the wooden base."}, {"label": "subtasks", "start_step": 578, "end_step": 621, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the leftmost white hexagonal block placed on the black table surface."}, {"label": "subtasks", "start_step": 622, "end_step": 659, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the black table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 660, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}, {"label": "subtasks", "start_step": 675, "end_step": 697, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 698, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}, {"label": "subtasks", "start_step": 720, "end_step": 749, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 764, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 765, "end_step": 787, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post on the wooden base."}, {"label": "subtasks", "start_step": 788, "end_step": 824, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black tabletop in front of the wooden base."}, {"label": "subtasks", "start_step": 825, "end_step": 921, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white cylindrical block on the black tabletop, adjusting fingers to form a stable grip."}, {"label": "subtasks", "start_step": 922, "end_step": 937, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it towards the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 938, "end_step": 974, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod to complete assembly."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 1020, "end_step": 1049, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table."}, {"label": "subtasks", "start_step": 1050, "end_step": 1139, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1140, "end_step": 1154, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green hexagonal block on the black tabletop."}, {"label": "subtasks", "start_step": 1155, "end_step": 1169, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it towards the wooden rack."}, {"label": "subtasks", "start_step": 1170, "end_step": 1184, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the vertical post on the wooden rack."}, {"label": "subtasks", "start_step": 1185, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical post of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1230, "end_step": 1379, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring onto the vertical post of the wooden base."}, {"label": "subtasks", "start_step": 1380, "end_step": 1424, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table surface."}, {"label": "subtasks", "start_step": 1425, "end_step": 1514, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white ring on the table surface."}, {"label": "subtasks", "start_step": 1515, "end_step": 1544, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and transports it towards the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1545, "end_step": 1589, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white ring with the target rod on the wooden base and assembles it onto the rod."}, {"label": "subtasks", "start_step": 1590, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the post of the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1664, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1665, "end_step": 1709, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white block on the table near the wooden base, with fingers closing around the block to adjust grip."}, {"label": "subtasks", "start_step": 1710, "end_step": 1739, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block upward slightly off the table surface."}, {"label": "subtasks", "start_step": 1740, "end_step": 1754, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring upward to the top of the target peg on the wooden block."}, {"label": "subtasks", "start_step": 1755, "end_step": 1799, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the target peg on the wooden block."}, {"label": "subtasks", "start_step": 1800, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base with stacked blocks."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the dark table surface."}, {"label": "subtasks", "start_step": 1905, "end_step": 1979, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the dark table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and transports it above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2002, "end_step": 2024, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white cubic block with the top of the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2025, "end_step": 2054, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cubic block along the purple rod until it is supported by the underlying block on the wooden base."}, {"label": "subtasks", "start_step": 2055, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2085, "end_step": 2129, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}, {"label": "subtasks", "start_step": 2130, "end_step": 2181, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the green cubic block on the tabletop to form a stable grasp."}, {"label": "subtasks", "start_step": 2182, "end_step": 2219, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green cubic block upward off the black tabletop."}, {"label": "subtasks", "start_step": 2220, "end_step": 2249, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the top of the rightmost white column on the wooden base."}, {"label": "subtasks", "start_step": 2250, "end_step": 2279, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the green block down to place it onto the top of the target white column."}, {"label": "subtasks", "start_step": 2280, "end_step": 2354, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the green block to fit onto the white column to complete the assembly."}], "episode_index": 43}
+{"source_uid": "e48bb2ed6126a061", "num_frames": 2893, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from its initial lower left position to the stationary home position at the left side of the workspace, staying empty with fingers extended during the movement. | Right hand: reach: Right hand moves diagonally downward and left from its initial right-side position toward the green hexagonal block on the black table in front of the wooden peg assembly, with fingers held extended."}, {"label": "goal", "start_step": 0, "end_step": 216, "id": "ae2896d8-bc8b-4534-810b-ce2a3d369f90"}, {"label": "valid", "start_step": 0, "end_step": 2861, "id": "6ADpfzxTVcx3cqfhFcpWy"}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves diagonally downward and left from its initial right-side position toward the green hexagonal block on the black table in front of the wooden peg assembly, with fingers held extended."}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal block, making small adjustments to finger positions and wrist angle to form a stable grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block steady on the black table surface, with no observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable, secure grasp on the green hexagonal block resting on the black work surface."}, {"label": "goal", "start_step": 217, "end_step": 360, "id": "825bd6e2-d4eb-43a1-9185-ef35d8f0bad1"}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block, fully separating it from the black work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and horizontally toward the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block to fit snugly onto the peg."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the purple peg on the wooden base, releasing the block as it settles on the base surface."}, {"label": "goal", "start_step": 361, "end_step": 528, "id": "3375700c-f774-41b0-ae7f-5d9c07bedaff"}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal block, fingers close and perform small adjustments to establish a grip on the block."}, {"label": "goal", "start_step": 529, "end_step": 656, "id": "d401b30f-03bb-4a09-869b-151090e35199"}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and transports it upward and backward to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the target purple peg and slides it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 645, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate_release: Right hand holds the white cylindrical block, aligns it with the leftmost purple rod on the wooden base to fit the block onto the rod, opens fingers to release the block."}, {"label": "goal", "start_step": 657, "end_step": 880, "id": "4f23e310-fe35-4d01-b397-cf77400594d8"}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the leftmost white hexagonal block on the front section of the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the leftmost white hexagonal block on the table, closes fingers and adjusts contact positions to form a grasp on the block."}, {"label": "goal", "start_step": 881, "end_step": 984, "id": "e22ba7d0-1517-402f-85ea-2602ec08fb1d"}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and slides the nut down onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds a white hexagonal block, moves it downward onto the purple peg on the wooden base, releasing the block as the peg supports it."}, {"label": "goal", "start_step": 985, "end_step": 1120, "id": "c2eba198-a8fd-4409-b8d9-d2043951f91a"}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward with an empty grip toward the white hexagonal block in front of the wooden base, approaching the block without contact."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block near the wooden base to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the front white hexagonal block near the wooden base with no observable movement or finger adjustment."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grip on the white hexagonal block near the wooden stand, with the block remaining on the table surface throughout this period."}, {"label": "goal", "start_step": 1121, "end_step": 1232, "id": "240e8428-f071-4cf4-b0d8-b87219ff9c78"}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden stand and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden stand without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward along the purple peg to set it onto the wooden assembly base, opens fingers to release grip on the block as it rests stably on the base."}, {"label": "goal", "start_step": 1233, "end_step": 1392, "id": "2330d9af-64d0-4ed5-bf96-9a5856c26c05"}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty in a downward and forward direction toward the green hexagonal block placed on the table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block, adjusts finger positions and closes fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand holds the green block resting on the table surface and lifts it upward until the block is completely separated from the table."}, {"label": "goal", "start_step": 1393, "end_step": 1472, "id": "819ca6c2-af53-4eee-9c12-40d0d2ec952a"}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted green block upward to the position directly above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green block with the target purple rod on the wooden rack and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green block securely fitted on the target purple rod without any visible movement or hand shape change."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts its fingers to close around and form a stable grasp on the green cylindrical block mounted on the purple rod of the wooden assembly stand."}, {"label": "goal", "start_step": 1473, "end_step": 1648, "id": "83271d42-33bc-435d-99e0-5dfb40d8b80b"}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped green cylindrical block off the purple rod, then carries it rightward and downward across the table toward the green square block placed on the surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand makes small positional and orientational adjustments to the held green cylindrical block to align it with the mating hole on the green square block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds a white hexagonal block that rests on the dark table surface, with no visible movement of the hand or block."}, {"label": "goal", "start_step": 1649, "end_step": 1824, "id": "233ae4f0-d864-473c-98e7-5bcfc363851a"}, {"label": "subtasks", "start_step": 1672, "end_step": 1701, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface and moves it upward and leftward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1814, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden block base and makes small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the purple rod on the wooden stacking base to set the block stably on the green block beneath, with fingers opening to release contact with the block."}, {"label": "goal", "start_step": 1825, "end_step": 2000, "id": "d1d99f29-1c29-481c-bfeb-d948980d44c0"}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand travels rightward with empty hand toward the white hexagonal block on the table adjacent to the wooden stacking base, approaching the target without contact."}, {"label": "subtasks", "start_step": 1950, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers adjust and close around the block to establish a stable grip."}, {"label": "goal", "start_step": 2001, "end_step": 2176, "id": "f201bed5-a9cf-44bf-ae36-bbe9628da0b6"}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the gripped small white hexagonal block vertically upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2121, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the gripped small white hexagonal block upward and horizontally toward the top of the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the small white hexagonal block with the purple vertical rod and slides the block down onto the rod to form an assembled connection."}, {"label": "subtasks", "start_step": 2175, "end_step": 2264, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp_release: Right hand adjusts finger contact points on the white cylindrical block mounted on the purple rod of the wooden rack, opening fingers to end contact with the block."}, {"label": "goal", "start_step": 2177, "end_step": 2344, "id": "963329bf-8789-42d4-9343-43141708acb1"}, {"label": "subtasks", "start_step": 2265, "end_step": 2317, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal nut resting on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface to establish grip on the object."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hollow block resting on the dark table surface without moving."}, {"label": "goal", "start_step": 2345, "end_step": 2440, "id": "8b1d1ada-fb13-4a86-b46c-317b098cb06a"}, {"label": "subtasks", "start_step": 2362, "end_step": 2377, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the white hollow block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2407, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport_mate: Right hand carries the white hollow block through the air toward the purple upright post on the wooden base, aligns the block with the post, and fits the block onto the top of the post."}, {"label": "subtasks", "start_step": 2408, "end_step": 2429, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hollow block seated on the purple upright post without moving."}, {"label": "subtasks", "start_step": 2430, "end_step": 2474, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to set it onto the purple rod on the wooden base, and opens fingers to release the stably supported block."}, {"label": "goal", "start_step": 2441, "end_step": 2624, "id": "ef26629a-2bea-43e9-a038-59496efbc8de"}, {"label": "subtasks", "start_step": 2475, "end_step": 2527, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves in the lower-right direction away from the wooden base with empty hand, departing from the previous assembly position."}, {"label": "subtasks", "start_step": 2528, "end_step": 2549, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the green square block resting on the dark table surface, approaching the block to prepare for grasping."}, {"label": "subtasks", "start_step": 2550, "end_step": 2624, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the green square block on the table, closing fingers to form a firm grasp on the block."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand holds the green block and lifts it upward to completely separate from the black table surface."}, {"label": "goal", "start_step": 2625, "end_step": 2720, "id": "c35f6d14-344b-418f-9afd-583a17534152"}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted green block, moving it upward and leftward to the position above the stacked blocks on the wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2714, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the hole of the green block with the top of the uppermost white block on the tray, adjusting position slightly to fit the block onto the post."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green block steadily fitted on the top of the stacked block without any movement."}, {"label": "home", "start_step": 2862, "end_step": 2892, "id": "UVu-3-rPnLwHL_XOKbaO1"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 51, "id": "reasoning-language-00001", "text": "Left hand: return_home: Left hand moves from its initial lower left position to the stationary home position at the left side of the workspace, staying empty with fingers extended during the movement. | Right hand: reach: Right hand moves diagonally downward and left from its initial right-side position toward the green hexagonal block on the black table in front of the wooden peg assembly, with fingers held extended."}, {"label": "subtasks", "start_step": 52, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves diagonally downward and left from its initial right-side position toward the green hexagonal block on the black table in front of the wooden peg assembly, with fingers held extended."}, {"label": "subtasks", "start_step": 105, "end_step": 187, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal block, making small adjustments to finger positions and wrist angle to form a stable grip while the block remains resting on the table surface."}, {"label": "subtasks", "start_step": 188, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block steady on the black table surface, with no observable movement of the hand, fingers, or the block."}, {"label": "subtasks", "start_step": 210, "end_step": 254, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable, secure grasp on the green hexagonal block resting on the black work surface."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block, fully separating it from the black work surface."}, {"label": "subtasks", "start_step": 270, "end_step": 299, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and horizontally toward the purple peg mounted on the wooden base."}, {"label": "subtasks", "start_step": 300, "end_step": 314, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block to fit snugly onto the peg."}, {"label": "subtasks", "start_step": 315, "end_step": 359, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 360, "end_step": 419, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the purple peg on the wooden base, releasing the block as it settles on the base surface."}, {"label": "subtasks", "start_step": 420, "end_step": 464, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the white hexagonal block resting on the table surface."}, {"label": "subtasks", "start_step": 465, "end_step": 569, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal block, fingers close and perform small adjustments to establish a grip on the block."}, {"label": "subtasks", "start_step": 570, "end_step": 607, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and transports it upward and backward to the position above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 608, "end_step": 629, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the target purple peg and slides it downward to fit onto the peg."}, {"label": "subtasks", "start_step": 630, "end_step": 644, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple peg without any visible movement."}, {"label": "subtasks", "start_step": 645, "end_step": 771, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate_release: Right hand holds the white cylindrical block, aligns it with the leftmost purple rod on the wooden base to fit the block onto the rod, opens fingers to release the block."}, {"label": "subtasks", "start_step": 772, "end_step": 817, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the leftmost white hexagonal block on the front section of the table, approaching the target without making contact."}, {"label": "subtasks", "start_step": 818, "end_step": 899, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the leftmost white hexagonal block on the table, closes fingers and adjusts contact positions to form a grasp on the block."}, {"label": "subtasks", "start_step": 900, "end_step": 937, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position above the purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 938, "end_step": 967, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and slides the nut down onto the rod to complete the fitting."}, {"label": "subtasks", "start_step": 968, "end_step": 974, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement or adjustment."}, {"label": "subtasks", "start_step": 975, "end_step": 1019, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds a white hexagonal block, moves it downward onto the purple peg on the wooden base, releasing the block as the peg supports it."}, {"label": "subtasks", "start_step": 1020, "end_step": 1064, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward with an empty grip toward the white hexagonal block in front of the wooden base, approaching the block without contact."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block near the wooden base to form a stable grip."}, {"label": "subtasks", "start_step": 1080, "end_step": 1109, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the front white hexagonal block near the wooden base with no observable movement or finger adjustment."}, {"label": "subtasks", "start_step": 1110, "end_step": 1147, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grip on the white hexagonal block near the wooden stand, with the block remaining on the table surface throughout this period."}, {"label": "subtasks", "start_step": 1148, "end_step": 1191, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the purple peg on the wooden stand."}, {"label": "subtasks", "start_step": 1192, "end_step": 1214, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden stand and moves the block downward to fit it onto the peg."}, {"label": "subtasks", "start_step": 1215, "end_step": 1229, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden stand without any observable movement of the hand or block."}, {"label": "subtasks", "start_step": 1230, "end_step": 1281, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward along the purple peg to set it onto the wooden assembly base, opens fingers to release grip on the block as it rests stably on the base."}, {"label": "subtasks", "start_step": 1282, "end_step": 1304, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty in a downward and forward direction toward the green hexagonal block placed on the table surface in front of the assembly base."}, {"label": "subtasks", "start_step": 1305, "end_step": 1379, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block, adjusts finger positions and closes fingers to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1380, "end_step": 1401, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand holds the green block resting on the table surface and lifts it upward until the block is completely separated from the table."}, {"label": "subtasks", "start_step": 1402, "end_step": 1424, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted green block upward to the position directly above the target purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1425, "end_step": 1461, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green block with the target purple rod on the wooden rack and lowers the block to fit onto the rod."}, {"label": "subtasks", "start_step": 1462, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green block securely fitted on the target purple rod without any visible movement or hand shape change."}, {"label": "subtasks", "start_step": 1470, "end_step": 1529, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts its fingers to close around and form a stable grasp on the green cylindrical block mounted on the purple rod of the wooden assembly stand."}, {"label": "subtasks", "start_step": 1530, "end_step": 1574, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped green cylindrical block off the purple rod, then carries it rightward and downward across the table toward the green square block placed on the surface."}, {"label": "subtasks", "start_step": 1575, "end_step": 1634, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand makes small positional and orientational adjustments to the held green cylindrical block to align it with the mating hole on the green square block on the table."}, {"label": "subtasks", "start_step": 1635, "end_step": 1671, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds a white hexagonal block that rests on the dark table surface, with no visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1672, "end_step": 1701, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface and moves it upward and leftward toward the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1702, "end_step": 1814, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden block base and makes small positional adjustments to fit the block onto the rod."}, {"label": "subtasks", "start_step": 1815, "end_step": 1919, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the purple rod on the wooden stacking base to set the block stably on the green block beneath, with fingers opening to release contact with the block."}, {"label": "subtasks", "start_step": 1920, "end_step": 1949, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand travels rightward with empty hand toward the white hexagonal block on the table adjacent to the wooden stacking base, approaching the target without contact."}, {"label": "subtasks", "start_step": 1950, "end_step": 2077, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers adjust and close around the block to establish a stable grip."}, {"label": "subtasks", "start_step": 2078, "end_step": 2091, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the gripped small white hexagonal block vertically upward until the block is completely separated from the table surface."}, {"label": "subtasks", "start_step": 2092, "end_step": 2121, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the gripped small white hexagonal block upward and horizontally toward the top of the purple vertical rod mounted on the wooden rack."}, {"label": "subtasks", "start_step": 2122, "end_step": 2174, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the small white hexagonal block with the purple vertical rod and slides the block down onto the rod to form an assembled connection."}, {"label": "subtasks", "start_step": 2175, "end_step": 2264, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp_release: Right hand adjusts finger contact points on the white cylindrical block mounted on the purple rod of the wooden rack, opening fingers to end contact with the block."}, {"label": "subtasks", "start_step": 2265, "end_step": 2317, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal nut resting on the black table surface, with fingers held slightly open."}, {"label": "subtasks", "start_step": 2318, "end_step": 2339, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface to establish grip on the object."}, {"label": "subtasks", "start_step": 2340, "end_step": 2361, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hollow block resting on the dark table surface without moving."}, {"label": "subtasks", "start_step": 2362, "end_step": 2377, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the white hollow block vertically upward until the block is fully separated from the table surface."}, {"label": "subtasks", "start_step": 2378, "end_step": 2407, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport_mate: Right hand carries the white hollow block through the air toward the purple upright post on the wooden base, aligns the block with the post, and fits the block onto the top of the post."}, {"label": "subtasks", "start_step": 2408, "end_step": 2429, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hollow block seated on the purple upright post without moving."}, {"label": "subtasks", "start_step": 2430, "end_step": 2474, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to set it onto the purple rod on the wooden base, and opens fingers to release the stably supported block."}, {"label": "subtasks", "start_step": 2475, "end_step": 2527, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves in the lower-right direction away from the wooden base with empty hand, departing from the previous assembly position."}, {"label": "subtasks", "start_step": 2528, "end_step": 2549, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the green square block resting on the dark table surface, approaching the block to prepare for grasping."}, {"label": "subtasks", "start_step": 2550, "end_step": 2624, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the green square block on the table, closing fingers to form a firm grasp on the block."}, {"label": "subtasks", "start_step": 2625, "end_step": 2639, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand holds the green block and lifts it upward to completely separate from the black table surface."}, {"label": "subtasks", "start_step": 2640, "end_step": 2661, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted green block, moving it upward and leftward to the position above the stacked blocks on the wooden tray."}, {"label": "subtasks", "start_step": 2662, "end_step": 2714, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the hole of the green block with the top of the uppermost white block on the tray, adjusting position slightly to fit the block onto the post."}, {"label": "subtasks", "start_step": 2715, "end_step": 2729, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green block steadily fitted on the top of the stacked block without any movement."}], "episode_index": 44}
+{"source_uid": "36146a3d91b04b08", "num_frames": 3303, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:move_upper_left: Left hand moves upward and leftward from the lower left position to the upper left area of the table, empty-handed. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden rack, empty-handed, without contacting any target object."}, {"label": "goal", "start_step": 0, "end_step": 184, "id": "bc87e39a-f2e2-4ad7-9c66-4255bd23d671"}, {"label": "valid", "start_step": 0, "end_step": 3271, "id": "S11dHoo48Rk_Ye-owBxYY"}, {"label": "subtasks", "start_step": 22, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden rack, empty-handed, without contacting any target object."}, {"label": "subtasks", "start_step": 105, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip, the block remains on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 185, "end_step": 280, "id": "5a93426f-0e21-4b8d-a55c-6ab3227af6f4"}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upwards and rightwards to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand moves the green hexagonal block downwards and mates it with the leftmost purple peg on the wooden base by inserting the peg through the block's hole."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the green hollow block onto the leftmost purple peg and releases its grip on the block."}, {"label": "goal", "start_step": 281, "end_step": 424, "id": "94761235-8c2e-41fc-af7b-5cf63b19e23e"}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "goal", "start_step": 425, "end_step": 536, "id": "54399bd9-a766-4467-978e-99e32244444c"}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it upward and rightward to the position above the leftmost peg of the peg board."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost peg of the peg board by lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost peg of the peg board without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the grip."}, {"label": "goal", "start_step": 537, "end_step": 688, "id": "99091181-c0a4-4d1a-9fc4-6d1b6793bec7"}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: retreat: Right hand moves upward away from the leftmost purple peg with empty hand."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: idle: Right hand remains empty above the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to adjust the grip while the block stays on the table."}, {"label": "goal", "start_step": 689, "end_step": 784, "id": "d5b9185e-f045-4371-9f58-9c4875f8a66a"}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it upward and backward to the position above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden rack, moving downward to fit the block onto the peg."}, {"label": "goal", "start_step": 785, "end_step": 928, "id": "f7ead80b-2ed1-48ee-b8cf-5756ecda1d2f"}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to stabilize the grip."}, {"label": "goal", "start_step": 929, "end_step": 1024, "id": "68228e8e-fe81-4796-b7da-0024d014e548"}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by lowering it to fit the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white ring onto the middle purple peg and releases its grip from the ring."}, {"label": "goal", "start_step": 1025, "end_step": 1128, "id": "ddf8a584-b438-4225-be27-31c7a273a406"}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward from the peg board toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without moving."}, {"label": "goal", "start_step": 1129, "end_step": 1256, "id": "e4185e11-aba9-43e5-9968-0eb72ebc9d95"}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the area above the middle peg on the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle peg of the wooden rack, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_release: Right hand lifts the green ring upward off the middle purple peg on the wooden base and releases it, letting the ring drop onto the dark table surface."}, {"label": "goal", "start_step": 1257, "end_step": 1896, "id": "adc370e9-8341-4f8c-a7a7-be299307bab3"}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: idle: Right hand remains empty above the wooden peg base without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the green ring resting on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1492, "end_step": 1551, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table surface and moves it slightly above the table."}, {"label": "subtasks", "start_step": 1552, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green ring placed on the table surface, with slight finger and wrist movements."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and moves it upward to the area above the purple pegs."}, {"label": "subtasks", "start_step": 1710, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green ring with the middle purple peg and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green ring fitted on the purple peg as fingers open."}, {"label": "subtasks", "start_step": 1808, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table surface with fingers closing."}, {"label": "goal", "start_step": 1897, "end_step": 2016, "id": "3da97420-a4dd-423d-9d26-9d4461452b2c"}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the purple peg, aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the purple peg of the wooden base."}, {"label": "goal", "start_step": 2017, "end_step": 2656, "id": "10cb5c2b-afb1-4c2c-b144-ece63c8897d3"}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward off the green block beneath it on the purple peg."}, {"label": "subtasks", "start_step": 2085, "end_step": 2219, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport_release: Right hand moves the white cylindrical block above the table surface and releases it, letting the block drop onto the table."}, {"label": "subtasks", "start_step": 2220, "end_step": 2301, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block that fell onto the table."}, {"label": "subtasks", "start_step": 2302, "end_step": 2444, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers around the white cylindrical block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward away from the table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2549, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the white cylindrical block upward to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2550, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the middle purple peg and lowers it onto the peg to form an assembly."}, {"label": "subtasks", "start_step": 2572, "end_step": 2587, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical block fitted on the middle purple peg."}, {"label": "subtasks", "start_step": 2588, "end_step": 2647, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white cylindrical block resting on the table."}, {"label": "subtasks", "start_step": 2648, "end_step": 2654, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers around the upper white cylindrical block on the table to initiate a grasp."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "goal", "start_step": 2657, "end_step": 2768, "id": "fec5c8d0-aad3-46ea-9422-cf325ffe9e79"}, {"label": "subtasks", "start_step": 2670, "end_step": 2691, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2692, "end_step": 2759, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and lowering the block down the rod."}, {"label": "subtasks", "start_step": 2760, "end_step": 2781, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the rightmost peg of the wooden base and releases it."}, {"label": "goal", "start_step": 2769, "end_step": 2864, "id": "1a5d27a7-4b9a-43ba-aaee-b96af256ce90"}, {"label": "subtasks", "start_step": 2782, "end_step": 2811, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2865, "end_step": 2894, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the table surface and transports it toward the purple rod on the wooden rack."}, {"label": "goal", "start_step": 2865, "end_step": 2976, "id": "5a3a09a0-5aa0-4105-8210-229568fe4db5"}, {"label": "subtasks", "start_step": 2895, "end_step": 2961, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand moves the white cubic block downward to align and fit it onto the purple rod."}, {"label": "subtasks", "start_step": 2962, "end_step": 2969, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white cubic block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2970, "end_step": 3021, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white cap onto the top of the rightmost white cylinder with a purple rod on the wooden base and releases the cap."}, {"label": "goal", "start_step": 2977, "end_step": 3128, "id": "b9782e1e-3159-4eea-8520-3ee88d80c403"}, {"label": "subtasks", "start_step": 3022, "end_step": 3051, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves empty toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 3052, "end_step": 3157, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 3129, "end_step": 3224, "id": "cd31e46b-9b04-4532-b715-885532f6ec09"}, {"label": "subtasks", "start_step": 3158, "end_step": 3171, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 3172, "end_step": 3194, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the green block leftward and upward to the position above the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3195, "end_step": 3224, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green block with the white bottle, lowering it to fit onto the bottle top."}, {"label": "home", "start_step": 3272, "end_step": 3302, "id": "KRkOoTcjBTr5tE8XEpwXL"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 21, "id": "reasoning-language-00001", "text": "Left hand: other:move_upper_left: Left hand moves upward and leftward from the lower left position to the upper left area of the table, empty-handed. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden rack, empty-handed, without contacting any target object."}, {"label": "subtasks", "start_step": 22, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden rack, empty-handed, without contacting any target object."}, {"label": "subtasks", "start_step": 105, "end_step": 171, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip, the block remains on the table surface."}, {"label": "subtasks", "start_step": 172, "end_step": 179, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 180, "end_step": 201, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 202, "end_step": 224, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upwards and rightwards to the position above the leftmost purple peg of the wooden base."}, {"label": "subtasks", "start_step": 225, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand moves the green hexagonal block downwards and mates it with the leftmost purple peg on the wooden base by inserting the peg through the block's hole."}, {"label": "subtasks", "start_step": 255, "end_step": 269, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without moving."}, {"label": "subtasks", "start_step": 270, "end_step": 321, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the green hollow block onto the leftmost purple peg and releases its grip on the block."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal block on the table to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 464, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it upward and rightward to the position above the leftmost peg of the peg board."}, {"label": "subtasks", "start_step": 465, "end_step": 479, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost peg of the peg board by lowering it to fit onto the peg."}, {"label": "subtasks", "start_step": 480, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost peg of the peg board without moving."}, {"label": "subtasks", "start_step": 525, "end_step": 554, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the grip."}, {"label": "subtasks", "start_step": 555, "end_step": 569, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: retreat: Right hand moves upward away from the leftmost purple peg with empty hand."}, {"label": "subtasks", "start_step": 570, "end_step": 621, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table with empty hand."}, {"label": "subtasks", "start_step": 622, "end_step": 674, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: idle: Right hand remains empty above the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 675, "end_step": 704, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to adjust the grip while the block stays on the table."}, {"label": "subtasks", "start_step": 705, "end_step": 719, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it upward and backward to the position above the leftmost peg of the wooden rack."}, {"label": "subtasks", "start_step": 720, "end_step": 817, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden rack, moving downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 818, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 848, "end_step": 884, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 885, "end_step": 914, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 915, "end_step": 929, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to stabilize the grip."}, {"label": "subtasks", "start_step": 930, "end_step": 951, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table to the position above the purple peg on the wooden rack."}, {"label": "subtasks", "start_step": 952, "end_step": 1004, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by lowering it to fit the peg."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1020, "end_step": 1057, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white ring onto the middle purple peg and releases its grip from the ring."}, {"label": "subtasks", "start_step": 1058, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward from the peg board toward the green hexagonal block on the table surface."}, {"label": "subtasks", "start_step": 1080, "end_step": 1124, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1162, "end_step": 1177, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface."}, {"label": "subtasks", "start_step": 1178, "end_step": 1199, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the area above the middle peg on the wooden rack."}, {"label": "subtasks", "start_step": 1200, "end_step": 1229, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle peg of the wooden rack, aligning the block's hole with the peg and lowering it into place."}, {"label": "subtasks", "start_step": 1230, "end_step": 1244, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}, {"label": "subtasks", "start_step": 1245, "end_step": 1387, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_release: Right hand lifts the green ring upward off the middle purple peg on the wooden base and releases it, letting the ring drop onto the dark table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1409, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: idle: Right hand remains empty above the wooden peg base without moving."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the green ring resting on the table surface."}, {"label": "subtasks", "start_step": 1470, "end_step": 1491, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the table surface with fingers closing around it."}, {"label": "subtasks", "start_step": 1492, "end_step": 1551, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table surface and moves it slightly above the table."}, {"label": "subtasks", "start_step": 1552, "end_step": 1687, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green ring placed on the table surface, with slight finger and wrist movements."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and moves it upward to the area above the purple pegs."}, {"label": "subtasks", "start_step": 1710, "end_step": 1791, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green ring with the middle purple peg and lowers it onto the peg."}, {"label": "subtasks", "start_step": 1792, "end_step": 1807, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green ring fitted on the purple peg as fingers open."}, {"label": "subtasks", "start_step": 1808, "end_step": 1867, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1911, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table surface with fingers closing."}, {"label": "subtasks", "start_step": 1912, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1935, "end_step": 1979, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the purple peg, aligning and lowering it onto the peg."}, {"label": "subtasks", "start_step": 1980, "end_step": 2009, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg without moving."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 2062, "end_step": 2084, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward off the green block beneath it on the purple peg."}, {"label": "subtasks", "start_step": 2085, "end_step": 2219, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport_release: Right hand moves the white cylindrical block above the table surface and releases it, letting the block drop onto the table."}, {"label": "subtasks", "start_step": 2220, "end_step": 2301, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block that fell onto the table."}, {"label": "subtasks", "start_step": 2302, "end_step": 2444, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers around the white cylindrical block on the table to establish a stable grasp."}, {"label": "subtasks", "start_step": 2445, "end_step": 2459, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward away from the table surface."}, {"label": "subtasks", "start_step": 2460, "end_step": 2549, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the white cylindrical block upward to the position above the middle purple peg on the wooden base."}, {"label": "subtasks", "start_step": 2550, "end_step": 2571, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the middle purple peg and lowers it onto the peg to form an assembly."}, {"label": "subtasks", "start_step": 2572, "end_step": 2587, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical block fitted on the middle purple peg."}, {"label": "subtasks", "start_step": 2588, "end_step": 2647, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white cylindrical block resting on the table."}, {"label": "subtasks", "start_step": 2648, "end_step": 2654, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers around the upper white cylindrical block on the table to initiate a grasp."}, {"label": "subtasks", "start_step": 2655, "end_step": 2669, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}, {"label": "subtasks", "start_step": 2670, "end_step": 2691, "id": "reasoning-language-00063", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 2692, "end_step": 2759, "id": "reasoning-language-00064", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and lowering the block down the rod."}, {"label": "subtasks", "start_step": 2760, "end_step": 2781, "id": "reasoning-language-00065", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the rightmost peg of the wooden base and releases it."}, {"label": "subtasks", "start_step": 2782, "end_step": 2811, "id": "reasoning-language-00066", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2812, "end_step": 2834, "id": "reasoning-language-00067", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}, {"label": "subtasks", "start_step": 2835, "end_step": 2864, "id": "reasoning-language-00068", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 2865, "end_step": 2894, "id": "reasoning-language-00069", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the table surface and transports it toward the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2895, "end_step": 2961, "id": "reasoning-language-00070", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand moves the white cubic block downward to align and fit it onto the purple rod."}, {"label": "subtasks", "start_step": 2962, "end_step": 2969, "id": "reasoning-language-00071", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white cubic block on the purple rod without moving."}, {"label": "subtasks", "start_step": 2970, "end_step": 3021, "id": "reasoning-language-00072", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white cap onto the top of the rightmost white cylinder with a purple rod on the wooden base and releases the cap."}, {"label": "subtasks", "start_step": 3022, "end_step": 3051, "id": "reasoning-language-00073", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves empty toward the green cube on the dark table surface."}, {"label": "subtasks", "start_step": 3052, "end_step": 3157, "id": "reasoning-language-00074", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 3158, "end_step": 3171, "id": "reasoning-language-00075", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}, {"label": "subtasks", "start_step": 3172, "end_step": 3194, "id": "reasoning-language-00076", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the green block leftward and upward to the position above the white bottle on the wooden rack."}, {"label": "subtasks", "start_step": 3195, "end_step": 3224, "id": "reasoning-language-00077", "text": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green block with the white bottle, lowering it to fit onto the bottle top."}], "episode_index": 45}
+{"source_uid": "7338b84fd018b65b", "num_frames": 3652, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the front left of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 208, "id": "ccababc7-97d4-419b-8c2d-623e509c3777"}, {"label": "valid", "start_step": 0, "end_step": 3616, "id": "ElYE80gWtuzXI9-oM-gVt"}, {"label": "subtasks", "start_step": 75, "end_step": 134, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to form stable grasp on the white cylindrical block on the front left of the wooden base."}, {"label": "subtasks", "start_step": 135, "end_step": 194, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white cylindrical block upwards from the wooden base."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the desktop near the wooden peg board."}, {"label": "goal", "start_step": 209, "end_step": 312, "id": "94b36280-5b23-4822-9a26-d52245f57eff"}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right 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hand attempts to insert the green cubic object onto the purple bottle tip, the object falls onto the table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2759, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the fallen green cubic object."}, {"label": "subtasks", "start_step": 2760, "end_step": 2804, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic object on the black table surface."}, {"label": "subtasks", "start_step": 2805, "end_step": 2849, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green cubic object on the table surface."}, {"label": "subtasks", 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remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down onto the aligned peg until it is supported by the peg."}, {"label": "subtasks", "start_step": 1012, "end_step": 1071, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 1072, "end_step": 1131, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}, {"label": "subtasks", "start_step": 1132, "end_step": 1154, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it upward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1155, "end_step": 1319, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base by lowering it down to fit."}, {"label": "subtasks", "start_step": 1320, "end_step": 1349, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the green square block on the desktop."}, {"label": "subtasks", "start_step": 1350, "end_step": 1424, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the desktop."}, {"label": "subtasks", "start_step": 1425, "end_step": 1454, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it towards the wooden rack with vertical rods."}, {"label": "subtasks", "start_step": 1455, "end_step": 1484, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with a vertical rod on the wooden rack and inserts it onto the rod."}, {"label": "subtasks", "start_step": 1485, "end_step": 1499, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the rod of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1500, "end_step": 1687, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the vertical pillar on the wooden base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1747, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1748, "end_step": 1837, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface."}, {"label": "subtasks", "start_step": 1838, "end_step": 1859, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the tabletop and transports it towards the wooden peg board."}, {"label": "subtasks", "start_step": 1860, "end_step": 1934, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto a peg of the wooden peg board."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1965, "end_step": 2009, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white ring on the table next to the wooden base."}, {"label": "subtasks", "start_step": 2010, "end_step": 2084, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white ring on the table, fingers adjust to form stable grip."}, {"label": "subtasks", "start_step": 2085, "end_step": 2121, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white ring upwards from the table surface."}, {"label": "subtasks", "start_step": 2122, "end_step": 2144, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the empty slot on the wooden rack."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block into the empty slot on the wooden rack."}, {"label": "subtasks", "start_step": 2160, "end_step": 2174, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted in the wooden rack slot."}, {"label": "subtasks", "start_step": 2175, "end_step": 2219, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the wooden rack."}, {"label": "subtasks", "start_step": 2220, "end_step": 2264, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden rack towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 2265, "end_step": 2324, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers adjust to form a stable grip."}, {"label": "subtasks", "start_step": 2325, "end_step": 2354, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block away from the table surface."}, {"label": "subtasks", "start_step": 2355, "end_step": 2399, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block towards the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2400, "end_step": 2504, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2505, "end_step": 2564, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the gray table surface."}, {"label": "subtasks", "start_step": 2565, "end_step": 2647, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip on the block."}, {"label": "subtasks", "start_step": 2648, "end_step": 2661, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic object away from the black table surface."}, {"label": "subtasks", "start_step": 2662, "end_step": 2684, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cubic object towards the bottle with purple tip on the wooden tray."}, {"label": "subtasks", "start_step": 2685, "end_step": 2699, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:failed_insert: Right hand attempts to insert the green cubic object onto the purple bottle tip, the object falls onto the table surface."}, {"label": "subtasks", "start_step": 2700, "end_step": 2759, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the fallen green cubic object."}, {"label": "subtasks", "start_step": 2760, "end_step": 2804, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic object on the black table surface."}, {"label": "subtasks", "start_step": 2805, "end_step": 2849, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green cubic object on the table surface."}, {"label": "subtasks", "start_step": 2850, "end_step": 2917, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly away from the green cubic object."}, {"label": "subtasks", "start_step": 2918, "end_step": 2984, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic object on the table again."}, {"label": "subtasks", "start_step": 2985, "end_step": 2999, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic object away from the table surface."}, {"label": "subtasks", "start_step": 3000, "end_step": 3037, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cubic object towards the bottle with purple tip."}, {"label": "subtasks", "start_step": 3038, "end_step": 3224, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand repeatedly attempts to align and insert the green cubic object onto the purple bottle tip."}, {"label": "subtasks", "start_step": 3225, "end_step": 3291, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cubic object back to the black table surface."}, {"label": "subtasks", "start_step": 3292, "end_step": 3404, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green cubic object placed on the table."}, {"label": "subtasks", "start_step": 3405, "end_step": 3419, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic object away from the table surface."}, {"label": "subtasks", "start_step": 3420, "end_step": 3487, "id": "reasoning-language-00061", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cubic object towards the bottle with purple tip."}, {"label": "subtasks", "start_step": 3488, "end_step": 3584, "id": "reasoning-language-00062", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the green cubic object onto the purple bottle tip and adjusts its position to fit stably."}], "episode_index": 46}
+{"source_uid": "6a25fc1e502203b2", "num_frames": 2812, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: other:move_to_idle_position: Left hand moves upward from its initial left-side position to the upper left stationary position, remaining empty with fingers extended. | Right hand: reach: Right hand moves from its initial right-side position, first upward then downward, toward the green hexagonal block on the table in front of the wooden base, with fingers open as it approaches the target block."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "a1fd456e-3666-4ebc-94de-ef369ff54c43"}, {"label": "valid", "start_step": 0, "end_step": 2780, "id": "lYS8KGmhqeZwx2CS_DySg"}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves from its initial right-side position, first upward then downward, toward the green hexagonal block on the table in front of the wooden base, with fingers open as it approaches the target block."}, {"label": "subtasks", "start_step": 105, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table, making small adjustments with fingers and wrist to establish a stable grip, while the block remains on the table surface."}, {"label": "goal", "start_step": 153, "end_step": 264, "id": "d5d9e53f-47e7-41b6-830f-e82c131afa70"}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward until it is completely separated from the tabletop support."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand transports the grasped green hexagonal block upward to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted onto the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts its grip on the green hexagonal block mounted on the leftmost purple peg, slightly tightening fingers to secure the block."}, {"label": "goal", "start_step": 265, "end_step": 432, "id": "c2ca0b2d-14d8-451a-afb8-7790e5103500"}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the secured green hexagonal block away from the leftmost purple peg, moving downward toward the empty lower left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand places the green hexagonal block onto the lower left purple peg of the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block at the left front of the table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small finger position adjustments to form a stable grip."}, {"label": "goal", "start_step": 433, "end_step": 536, "id": "e15693ca-39cb-426d-96fe-dea40b569c13"}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark work surface and moves it upward to position it directly above an unoccupied purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the unoccupied purple peg and lowers the nut to fit it onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: press: Right hand presses the top of the white cylindrical block on the purple peg downward to seat it fully on the wooden assembly base."}, {"label": "goal", "start_step": 537, "end_step": 648, "id": "9baa8a65-e727-4078-9722-83e945904d36"}, {"label": "subtasks", "start_step": 562, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward empty from the assembly base toward the leftmost loose white hexagonal block placed on the dark work surface."}, {"label": "subtasks", "start_step": 608, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the leftmost loose white hexagonal block on the work surface to form a stable grip."}, {"label": "goal", "start_step": 649, "end_step": 840, "id": "5f19664e-3a95-41fe-9f02-5e40db5da531"}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hollow block vertically upward to separate it from the black table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped white hollow block upward to the position directly above the unoccupied purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hollow block with the purple rod, and lowers the block to fit onto the rod until it rests on the green base block below."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the assembled white hollow block on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 840, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to release the grasped white hollow block, separating the hand from the block."}, {"label": "goal", "start_step": 841, "end_step": 968, "id": "1f07ade5-2040-46e8-b835-e057acbe55a7"}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper position to approach the left white hexagonal nut in front of the wooden block base."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the left white hexagonal nut in front of the wooden block base, with slight adjustments of fingers and wrist to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the left white hexagonal nut in front of the wooden block base without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand grips the white cylindrical block and lifts it upward to fully separate it from the dark table surface."}, {"label": "goal", "start_step": 969, "end_step": 1048, "id": "a0f0f97b-7cd0-4d7c-88b1-c8ef518b2582"}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white cylindrical block through the air toward the empty purple peg on the light wooden assembly base."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the target purple peg, then lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the fitted white cylindrical block on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward onto the purple rod on the wooden base, and opens fingers to release the supported block."}, {"label": "goal", "start_step": 1049, "end_step": 1136, "id": "d32c68a1-5dfe-4857-91aa-4f33ed7a21d9"}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the green hollow block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the green hollow block on the dark table surface to form a grip."}, {"label": "goal", "start_step": 1137, "end_step": 1240, "id": "afff9f99-588b-45fe-b7cc-0a63deff75dd"}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the table surface and moves it upward toward the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand holds the green hexagonal block, aligns its central hole with the purple post on the wooden assembly, and makes slight positional and rotational adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward along the purple rod to set it on top of the green block on the wooden base, fingers opening to release the positioned block."}, {"label": "goal", "start_step": 1241, "end_step": 1368, "id": "2dfe9ec0-ff57-4f68-b51d-445e0a1791ba"}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward across the black table surface toward the white hexagonal nut adjacent to the green square block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the held white cylindrical block upward, raising it fully off the black table surface."}, {"label": "goal", "start_step": 1369, "end_step": 1472, "id": "9f934e95-2d78-4d62-947a-6b6b8a08ffb4"}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand transports the held white cylindrical block upward and toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the held white cylindrical block with the purple rod and lowers it to fit onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand lowers the white cylindrical block onto the corresponding vertical rod on the wooden assembly base until the block is supported by the block below, opens fingers to release grip on the block."}, {"label": "goal", "start_step": 1473, "end_step": 1648, "id": "7c51ec6a-ea86-4c82-a23e-9d0b6d48c0c0"}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block placed next to the wooden assembly base on the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table, with slight wrist adjustment to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table near the wooden assembly base without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the position directly above the purple rod on the wooden block base."}, {"label": "goal", "start_step": 1649, "end_step": 1712, "id": "3308c5c7-1eb2-4e2a-9f66-4db2fc90418c"}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod to form the nested assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the purple rod on the wooden block stand, opens fingers to release the block."}, {"label": "goal", "start_step": 1713, "end_step": 1856, "id": "896d03f9-7edd-4c37-9756-f7b026fed09d"}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty from the wooden block stand area toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to establish a stable grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hollow cylinder resting on the dark table surface."}, {"label": "goal", "start_step": 1857, "end_step": 1936, "id": "e13d3895-a973-4286-8724-2141ea8781c4"}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table surface and moves it upward toward the purple rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple rod and lowers the cylinder to fit onto the rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand positions the white-and-green cylindrical block onto the purple peg on the wooden tray and releases grip to leave the block supported by the tray."}, {"label": "goal", "start_step": 1937, "end_step": 2128, "id": "91f9fa00-578a-4429-8c8f-74735255ba7c"}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty across the black work surface toward the small green cube."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the small green cube on the work surface, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand maintains a closed grasp on the green hexagonal block, lifting it vertically upward until the block is fully separated from the dark work surface."}, {"label": "goal", "start_step": 2129, "end_step": 2216, "id": "4f19f3b0-84dd-4614-b001-49037906f60c"}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green hexagonal block upward and leftward across the dark work surface, moving it to the position directly above the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 2168, "end_step": 2219, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple vertical rod, lowering the block to nest onto the rod to enter the assembled state."}, {"label": "home", "start_step": 2781, "end_step": 2811, "id": "cdlzwiZlPMGdlu4fbfA3g"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 67, "id": "reasoning-language-00001", "text": "Left hand: other:move_to_idle_position: Left hand moves upward from its initial left-side position to the upper left stationary position, remaining empty with fingers extended. | Right hand: reach: Right hand moves from its initial right-side position, first upward then downward, toward the green hexagonal block on the table in front of the wooden base, with fingers open as it approaches the target block."}, {"label": "subtasks", "start_step": 68, "end_step": 104, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves from its initial right-side position, first upward then downward, toward the green hexagonal block on the table in front of the wooden base, with fingers open as it approaches the target block."}, {"label": "subtasks", "start_step": 105, "end_step": 179, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table, making small adjustments with fingers and wrist to establish a stable grip, while the block remains on the table surface."}, {"label": "subtasks", "start_step": 180, "end_step": 194, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward until it is completely separated from the tabletop support."}, {"label": "subtasks", "start_step": 195, "end_step": 217, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand transports the grasped green hexagonal block upward to the position directly above the target purple peg on the wooden base."}, {"label": "subtasks", "start_step": 218, "end_step": 239, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and lowers the block to fit onto the peg."}, {"label": "subtasks", "start_step": 240, "end_step": 254, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted onto the purple peg without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 255, "end_step": 299, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts its grip on the green hexagonal block mounted on the leftmost purple peg, slightly tightening fingers to secure the block."}, {"label": "subtasks", "start_step": 300, "end_step": 329, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the secured green hexagonal block away from the leftmost purple peg, moving downward toward the empty lower left purple peg on the wooden base."}, {"label": "subtasks", "start_step": 330, "end_step": 337, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand places the green hexagonal block onto the lower left purple peg of the wooden base, opening fingers to release the block."}, {"label": "subtasks", "start_step": 338, "end_step": 359, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block at the left front of the table surface."}, {"label": "subtasks", "start_step": 360, "end_step": 449, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small finger position adjustments to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark work surface and moves it upward to position it directly above an unoccupied purple peg on the wooden assembly base."}, {"label": "subtasks", "start_step": 472, "end_step": 524, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the unoccupied purple peg and lowers the nut to fit it onto the peg, establishing the assembly connection."}, {"label": "subtasks", "start_step": 525, "end_step": 561, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: press: Right hand presses the top of the white cylindrical block on the purple peg downward to seat it fully on the wooden assembly base."}, {"label": "subtasks", "start_step": 562, "end_step": 607, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward empty from the assembly base toward the leftmost loose white hexagonal block placed on the dark work surface."}, {"label": "subtasks", "start_step": 608, "end_step": 711, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the leftmost loose white hexagonal block on the work surface to form a stable grip."}, {"label": "subtasks", "start_step": 712, "end_step": 727, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hollow block vertically upward to separate it from the black table surface."}, {"label": "subtasks", "start_step": 728, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped white hollow block upward to the position directly above the unoccupied purple rod on the wooden assembly stand."}, {"label": "subtasks", "start_step": 750, "end_step": 817, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hollow block with the purple rod, and lowers the block to fit onto the rod until it rests on the green base block below."}, {"label": "subtasks", "start_step": 818, "end_step": 839, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the assembled white hollow block on the purple rod without any visible movement."}, {"label": "subtasks", "start_step": 840, "end_step": 847, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to release the grasped white hollow block, separating the hand from the block."}, {"label": "subtasks", "start_step": 848, "end_step": 869, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper position to approach the left white hexagonal nut in front of the wooden block base."}, {"label": "subtasks", "start_step": 870, "end_step": 899, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the left white hexagonal nut in front of the wooden block base, with slight adjustments of fingers and wrist to form a stable grip."}, {"label": "subtasks", "start_step": 900, "end_step": 959, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the left white hexagonal nut in front of the wooden block base without any observable movement of the hand or the nut."}, {"label": "subtasks", "start_step": 960, "end_step": 974, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand grips the white cylindrical block and lifts it upward to fully separate it from the dark table surface."}, {"label": "subtasks", "start_step": 975, "end_step": 997, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white cylindrical block through the air toward the empty purple peg on the light wooden assembly base."}, {"label": "subtasks", "start_step": 998, "end_step": 1019, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the target purple peg, then lowers the block to fit it securely onto the peg."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the fitted white cylindrical block on the purple peg without any visible movement of the hand or block."}, {"label": "subtasks", "start_step": 1035, "end_step": 1079, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward onto the purple rod on the wooden base, and opens fingers to release the supported block."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the green hollow block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1118, "end_step": 1154, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the green hollow block on the dark table surface to form a grip."}, {"label": "subtasks", "start_step": 1155, "end_step": 1191, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the table surface and moves it upward toward the purple post on the wooden block assembly."}, {"label": "subtasks", "start_step": 1192, "end_step": 1229, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand holds the green hexagonal block, aligns its central hole with the purple post on the wooden assembly, and makes slight positional and rotational adjustments to fit the block onto the post."}, {"label": "subtasks", "start_step": 1230, "end_step": 1289, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward along the purple rod to set it on top of the green block on the wooden base, fingers opening to release the positioned block."}, {"label": "subtasks", "start_step": 1290, "end_step": 1319, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward across the black table surface toward the white hexagonal nut adjacent to the green square block."}, {"label": "subtasks", "start_step": 1320, "end_step": 1364, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to establish a stable grasp."}, {"label": "subtasks", "start_step": 1365, "end_step": 1387, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the held white cylindrical block upward, raising it fully off the black table surface."}, {"label": "subtasks", "start_step": 1388, "end_step": 1424, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand transports the held white cylindrical block upward and toward the purple rod on the wooden assembly base."}, {"label": "subtasks", "start_step": 1425, "end_step": 1469, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the held white cylindrical block with the purple rod and lowers it to fit onto the rod, establishing the assembly connection."}, {"label": "subtasks", "start_step": 1470, "end_step": 1521, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand lowers the white cylindrical block onto the corresponding vertical rod on the wooden assembly base until the block is supported by the block below, opens fingers to release grip on the block."}, {"label": "subtasks", "start_step": 1522, "end_step": 1559, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block placed next to the wooden assembly base on the table."}, {"label": "subtasks", "start_step": 1560, "end_step": 1581, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table, with slight wrist adjustment to form a stable grip on the block."}, {"label": "subtasks", "start_step": 1582, "end_step": 1634, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table near the wooden assembly base without any observable movement of the hand or the block."}, {"label": "subtasks", "start_step": 1635, "end_step": 1687, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the position directly above the purple rod on the wooden block base."}, {"label": "subtasks", "start_step": 1688, "end_step": 1709, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod to form the nested assembly."}, {"label": "subtasks", "start_step": 1710, "end_step": 1761, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the purple rod on the wooden block stand, opens fingers to release the block."}, {"label": "subtasks", "start_step": 1762, "end_step": 1799, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty from the wooden block stand area toward the white hexagonal block resting on the dark table surface."}, {"label": "subtasks", "start_step": 1800, "end_step": 1829, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to establish a stable grasp."}, {"label": "subtasks", "start_step": 1830, "end_step": 1844, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting the block completely off the table surface."}, {"label": "subtasks", "start_step": 1845, "end_step": 1867, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hollow cylinder resting on the dark table surface."}, {"label": "subtasks", "start_step": 1868, "end_step": 1897, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table surface and moves it upward toward the purple rod mounted on the wooden block stand."}, {"label": "subtasks", "start_step": 1898, "end_step": 1934, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple rod and lowers the cylinder to fit onto the rod."}, {"label": "subtasks", "start_step": 1935, "end_step": 2009, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand positions the white-and-green cylindrical block onto the purple peg on the wooden tray and releases grip to leave the block supported by the tray."}, {"label": "subtasks", "start_step": 2010, "end_step": 2061, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty across the black work surface toward the small green cube."}, {"label": "subtasks", "start_step": 2062, "end_step": 2114, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the small green cube on the work surface, adjusting finger positions to form a stable grip."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand maintains a closed grasp on the green hexagonal block, lifting it vertically upward until the block is fully separated from the dark work surface."}, {"label": "subtasks", "start_step": 2138, "end_step": 2167, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green hexagonal block upward and leftward across the dark work surface, moving it to the position directly above the purple vertical rod on the wooden tray."}, {"label": "subtasks", "start_step": 2168, "end_step": 2219, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple vertical rod, lowering the block to nest onto the rod to enter the assembled state."}], "episode_index": 47}
+{"source_uid": "84847303d48da81b", "num_frames": 2525, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the table in front of the left side of the wooden rack, moving leftward and downward with fingers open."}, {"label": "goal", "start_step": 0, "end_step": 152, "id": "56d022b2-7201-44e4-9e35-7905e9c32712"}, {"label": "valid", "start_step": 0, "end_step": 2497, "id": "_XAyilDDfVSZr9bcHSvBr"}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers closing around the block to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 153, "end_step": 296, "id": "53de15d6-6191-4cd3-955c-638ddcc84f3f"}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it toward the wooden peg board on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden peg board, moving downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green hexagonal block onto the leftmost purple peg base and releases its grip."}, {"label": "goal", "start_step": 297, "end_step": 440, "id": "fc7336bd-f168-4d0d-a1e1-2ad9df1ed3aa"}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "goal", "start_step": 441, "end_step": 520, "id": "a3d197c9-2f29-471b-816f-4e74e2d448ab"}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it toward the purple peg set."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning its hole with the peg and inserting downward."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "goal", "start_step": 521, "end_step": 664, "id": "34d1616d-605f-4c1c-90a6-f56105c2c3ea"}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the front-left area of the table."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the front-left area of the table, with fingers closing and adjusting around the block."}, {"label": "goal", "start_step": 665, "end_step": 760, "id": "bbe18479-a9a3-426b-a941-573e4f30d0ac"}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal object from the table and transports it upward and toward the wooden rack with purple vertical rods."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal object with the front-left purple rod on the wooden rack, aligning the hole and lowering the object onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cylindrical block down onto the leftmost purple vertical post and releases the block."}, {"label": "goal", "start_step": 761, "end_step": 1008, "id": "e94a9f8f-dd49-4af7-bbde-6a64e3503666"}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty downward and rightward to approach the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table and adjusts its grip slightly."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table surface."}, {"label": "goal", "start_step": 1009, "end_step": 1080, "id": "f8a1795a-e85a-4816-a092-15a35ddec83e"}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block with the middle purple vertical rod and releases it."}, {"label": "goal", "start_step": 1081, "end_step": 1192, "id": "1ff054e1-c008-44a1-af19-d438741e6910"}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow cube on the dark table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1259, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow cube on the dark table surface, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1193, "end_step": 1328, "id": "c5747e1a-2126-4b6a-814e-6ee1cfab638b"}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it upward to the area above the pegboard."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block downward along the purple rod on the wooden base and releases the block."}, {"label": "goal", "start_step": 1329, "end_step": 1480, "id": "12eb4127-862e-4dea-a8a7-d0983e3cd27e"}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "goal", "start_step": 1481, "end_step": 1552, "id": "e7010eea-4e99-4214-9969-d60cc32ac6f6"}, {"label": "subtasks", "start_step": 1500, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple rod by lowering it to fit over the rod."}, {"label": "goal", "start_step": 1553, "end_step": 1696, "id": "5ff2f982-7c7e-45c3-a286-95a96e2cdbc7"}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the green post, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1657, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to stabilize the grip."}, {"label": "goal", "start_step": 1697, "end_step": 1848, "id": "50ca7af4-67a7-4c02-8cc8-0a551afdca75"}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part off the table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1778, "end_step": 1844, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple vertical rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the wooden block rack toward the white hexagonal block on the table."}, {"label": "goal", "start_step": 1849, "end_step": 1976, "id": "55074014-2598-4212-b0bc-8a9662761b6a"}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white ring-shaped object on the table next to the green block, adjusting fingers to form a stable grip while the object stays on the table surface."}, {"label": "goal", "start_step": 1977, "end_step": 2080, "id": "65be0acd-f279-44c9-bc9c-b436a1f517b9"}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring-shaped object off the table and transports it leftward and upward toward the pegboard with multiple vertical pegs."}, {"label": "subtasks", "start_step": 2002, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring-shaped object with the purple peg on the pegboard by aligning the central hole and lowering the object down along the peg."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area of the white bottle group on the wooden tray to approach the green cube on the table."}, {"label": "goal", "start_step": 2081, "end_step": 2184, "id": "1138a5ca-a19d-405a-afd6-dd7dac575062"}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cube on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green cubic block on the black table, with fingers slightly closing to stabilize the grip while the block stays on the table surface."}, {"label": "goal", "start_step": 2185, "end_step": 2464, "id": "1a707e49-f6e9-475a-9ada-dcd3ec766ec8"}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the wooden rack with white cylindrical objects."}, {"label": "subtasks", "start_step": 2228, "end_step": 2421, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green cubic block with the purple-topped white post on the wooden rack, adjusting position and orientation to fit the block onto the post for assembly."}, {"label": "subtasks", "start_step": 2422, "end_step": 2451, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening gradually until the grip is fully released and the hand separates from the block."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the assembly position, moving slightly to the right while staying empty."}, {"label": "home", "start_step": 2498, "end_step": 2524, "id": "Mhf-bQQuHFMNbSFPBLDnB"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 97, "id": "reasoning-language-00001", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the table in front of the left side of the wooden rack, moving leftward and downward with fingers open."}, {"label": "subtasks", "start_step": 98, "end_step": 127, "id": "reasoning-language-00002", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers closing around the block to adjust and form a stable grip."}, {"label": "subtasks", "start_step": 128, "end_step": 149, "id": "reasoning-language-00003", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}, {"label": "subtasks", "start_step": 150, "end_step": 209, "id": "reasoning-language-00004", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 210, "end_step": 239, "id": "reasoning-language-00005", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it toward the wooden peg board on the table."}, {"label": "subtasks", "start_step": 240, "end_step": 284, "id": "reasoning-language-00006", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden peg board, moving downward to fit the block onto the peg."}, {"label": "subtasks", "start_step": 285, "end_step": 321, "id": "reasoning-language-00007", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green hexagonal block onto the leftmost purple peg base and releases its grip."}, {"label": "subtasks", "start_step": 322, "end_step": 359, "id": "reasoning-language-00008", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 360, "end_step": 381, "id": "reasoning-language-00009", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hexagonal block on the table."}, {"label": "subtasks", "start_step": 382, "end_step": 434, "id": "reasoning-language-00010", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 435, "end_step": 449, "id": "reasoning-language-00011", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}, {"label": "subtasks", "start_step": 450, "end_step": 471, "id": "reasoning-language-00012", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it toward the purple peg set."}, {"label": "subtasks", "start_step": 472, "end_step": 494, "id": "reasoning-language-00013", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning its hole with the peg and inserting downward."}, {"label": "subtasks", "start_step": 495, "end_step": 509, "id": "reasoning-language-00014", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}, {"label": "subtasks", "start_step": 510, "end_step": 577, "id": "reasoning-language-00015", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the leftmost purple peg on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 578, "end_step": 614, "id": "reasoning-language-00016", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the front-left area of the table."}, {"label": "subtasks", "start_step": 615, "end_step": 689, "id": "reasoning-language-00017", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the front-left area of the table, with fingers closing and adjusting around the block."}, {"label": "subtasks", "start_step": 690, "end_step": 711, "id": "reasoning-language-00018", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal object from the table and transports it upward and toward the wooden rack with purple vertical rods."}, {"label": "subtasks", "start_step": 712, "end_step": 749, "id": "reasoning-language-00019", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal object with the front-left purple rod on the wooden rack, aligning the hole and lowering the object onto the rod."}, {"label": "subtasks", "start_step": 750, "end_step": 884, "id": "reasoning-language-00020", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cylindrical block down onto the leftmost purple vertical post and releases the block."}, {"label": "subtasks", "start_step": 885, "end_step": 929, "id": "reasoning-language-00021", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty downward and rightward to approach the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 930, "end_step": 981, "id": "reasoning-language-00022", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table and adjusts its grip slightly."}, {"label": "subtasks", "start_step": 982, "end_step": 1004, "id": "reasoning-language-00023", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1005, "end_step": 1019, "id": "reasoning-language-00024", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table surface."}, {"label": "subtasks", "start_step": 1020, "end_step": 1034, "id": "reasoning-language-00025", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it toward the purple peg on the wooden base."}, {"label": "subtasks", "start_step": 1035, "end_step": 1064, "id": "reasoning-language-00026", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}, {"label": "subtasks", "start_step": 1065, "end_step": 1079, "id": "reasoning-language-00027", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple peg without moving."}, {"label": "subtasks", "start_step": 1080, "end_step": 1117, "id": "reasoning-language-00028", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block with the middle purple vertical rod and releases it."}, {"label": "subtasks", "start_step": 1118, "end_step": 1139, "id": "reasoning-language-00029", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow cube on the dark table surface."}, {"label": "subtasks", "start_step": 1140, "end_step": 1259, "id": "reasoning-language-00030", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow cube on the dark table surface, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1260, "end_step": 1281, "id": "reasoning-language-00031", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it upward to the area above the pegboard."}, {"label": "subtasks", "start_step": 1282, "end_step": 1319, "id": "reasoning-language-00032", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the peg and inserts it onto the peg to complete assembly."}, {"label": "subtasks", "start_step": 1320, "end_step": 1357, "id": "reasoning-language-00033", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block downward along the purple rod on the wooden base and releases the block."}, {"label": "subtasks", "start_step": 1358, "end_step": 1394, "id": "reasoning-language-00034", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the dark table surface."}, {"label": "subtasks", "start_step": 1395, "end_step": 1409, "id": "reasoning-language-00035", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing."}, {"label": "subtasks", "start_step": 1410, "end_step": 1469, "id": "reasoning-language-00036", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}, {"label": "subtasks", "start_step": 1470, "end_step": 1499, "id": "reasoning-language-00037", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it upward and leftward to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1500, "end_step": 1581, "id": "reasoning-language-00038", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple rod by lowering it to fit over the rod."}, {"label": "subtasks", "start_step": 1582, "end_step": 1597, "id": "reasoning-language-00039", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the green post, with fingers opening and moving away from the block."}, {"label": "subtasks", "start_step": 1598, "end_step": 1627, "id": "reasoning-language-00040", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the wooden base."}, {"label": "subtasks", "start_step": 1628, "end_step": 1657, "id": "reasoning-language-00041", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}, {"label": "subtasks", "start_step": 1658, "end_step": 1694, "id": "reasoning-language-00042", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}, {"label": "subtasks", "start_step": 1695, "end_step": 1747, "id": "reasoning-language-00043", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to stabilize the grip."}, {"label": "subtasks", "start_step": 1748, "end_step": 1761, "id": "reasoning-language-00044", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part off the table surface."}, {"label": "subtasks", "start_step": 1762, "end_step": 1777, "id": "reasoning-language-00045", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part to the position above the purple vertical rod."}, {"label": "subtasks", "start_step": 1778, "end_step": 1844, "id": "reasoning-language-00046", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple vertical rod by lowering and fitting it onto the rod."}, {"label": "subtasks", "start_step": 1845, "end_step": 1889, "id": "reasoning-language-00047", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the wooden block rack toward the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1890, "end_step": 1934, "id": "reasoning-language-00048", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 1935, "end_step": 1964, "id": "reasoning-language-00049", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}, {"label": "subtasks", "start_step": 1965, "end_step": 1979, "id": "reasoning-language-00050", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white ring-shaped object on the table next to the green block, adjusting fingers to form a stable grip while the object stays on the table surface."}, {"label": "subtasks", "start_step": 1980, "end_step": 2001, "id": "reasoning-language-00051", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring-shaped object off the table and transports it leftward and upward toward the pegboard with multiple vertical pegs."}, {"label": "subtasks", "start_step": 2002, "end_step": 2069, "id": "reasoning-language-00052", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring-shaped object with the purple peg on the pegboard by aligning the central hole and lowering the object down along the peg."}, {"label": "subtasks", "start_step": 2070, "end_step": 2114, "id": "reasoning-language-00053", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area of the white bottle group on the wooden tray to approach the green cube on the table."}, {"label": "subtasks", "start_step": 2115, "end_step": 2137, "id": "reasoning-language-00054", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cube on the table and adjusts fingers to form a stable grasp."}, {"label": "subtasks", "start_step": 2138, "end_step": 2174, "id": "reasoning-language-00055", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}, {"label": "subtasks", "start_step": 2175, "end_step": 2204, "id": "reasoning-language-00056", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green cubic block on the black table, with fingers slightly closing to stabilize the grip while the block stays on the table surface."}, {"label": "subtasks", "start_step": 2205, "end_step": 2227, "id": "reasoning-language-00057", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the wooden rack with white cylindrical objects."}, {"label": "subtasks", "start_step": 2228, "end_step": 2421, "id": "reasoning-language-00058", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green cubic block with the purple-topped white post on the wooden rack, adjusting position and orientation to fit the block onto the post for assembly."}, {"label": "subtasks", "start_step": 2422, "end_step": 2451, "id": "reasoning-language-00059", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening gradually until the grip is fully released and the hand separates from the block."}, {"label": "subtasks", "start_step": 2452, "end_step": 2474, "id": "reasoning-language-00060", "text": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the assembly position, moving slightly to the right while staying empty."}], "episode_index": 48}
+{"source_uid": "ac0ff57ccf1a5f3d", "num_frames": 2611, "annotation_status": "loaded", "has_annotation": true, "global_task": "Task: TicTacToe", "tags": {"task_name": "TicTacToe", "task_instruction": "", "scene_description": "", "success_criteria": "", "score": "", "SOP": ""}, "segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the table in front of the wooden base."}, {"label": "goal", "start_step": 0, "end_step": 216, "id": "56eab6ff-15c7-4c83-8aff-2d13aee985cc"}, {"label": "valid", "start_step": 0, "end_step": 2579, "id": "oP_IXEDLILpvGyzs_6wqH"}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand aligns the grasped green hexagonal block with the leftmost purple post on the wooden base and inserts it onto the post."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop near the wooden base."}, {"label": "goal", "start_step": 217, "end_step": 344, "id": "1ca761bc-6cc7-4175-bbb7-387f38bc5dc5"}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: place: Right hand places the green block onto the purple rod of the wooden base."}, {"label": "goal", "start_step": 345, "end_step": 480, "id": "e9993759-9faa-4646-b32a-c7190175bc8d"}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downward towards the white block on the dark table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the dark table surface."}, {"label": "goal", "start_step": 481, "end_step": 624, "id": "cb26be62-5a3f-4a0e-8148-293e546ce9d8"}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 651, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it downwards onto the post."}, {"label": "goal", "start_step": 625, "end_step": 744, "id": "01612e65-bef4-4338-96dc-c7b9efbbecfc"}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downward towards the white hollow cylinder placed on the black tabletop."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow cylinder on the black tabletop."}, {"label": "goal", "start_step": 745, "end_step": 880, "id": "42f01157-d9df-43b2-885f-246aedae9c85"}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden rack, aligning the block hole with the rod."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reorient: Right hand adjusts the orientation of the white cylindrical block on the purple rod of the upper middle wooden base."}, {"label": "goal", "start_step": 881, "end_step": 984, "id": "a0a6469b-ae9c-4b65-b4cf-968bd5a2e5bb"}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1011, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form stable grip."}, {"label": "goal", "start_step": 985, "end_step": 1136, "id": "b391d5b5-bbe8-4276-8971-e6863778dea4"}, {"label": "subtasks", "start_step": 1012, "end_step": 1041, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the empty purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the empty purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "goal", "start_step": 1137, "end_step": 1248, "id": "86b6587d-5b23-41fa-87d2-7fe6c4127cdf"}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the green cubic block on the table surface."}, {"label": "goal", "start_step": 1249, "end_step": 1408, "id": "dc68eec4-33e2-4913-8f6d-10a86921c9b7"}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the green cubic object from the black tabletop and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1447, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the green cubic object with the purple rod on the wooden rack by lowering it onto the rod."}, {"label": "goal", "start_step": 1409, "end_step": 1520, "id": "00eb2fed-65bd-4e3f-aa89-6c6938f7e7c3"}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "goal", "start_step": 1521, "end_step": 1664, "id": "02bbb37a-e428-4653-b594-f6ab7953ded1"}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift: Right hand lifts the white cylindrical object off the black tabletop."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand aligns and inserts the white cylindrical object onto a peg of the wooden rack."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: hold: Right hand holds the white cylindrical object on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the corresponding peg on the wooden base."}, {"label": "goal", "start_step": 1665, "end_step": 1912, "id": "1b6dc1a5-8082-4f94-92c4-3fb36515543e"}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the desktop."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the desktop."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift: Right hand lifts the grasped white cylindrical block upward."}, {"label": "goal", "start_step": 1913, "end_step": 2024, "id": "86b564bd-1e69-4949-84f7-0a0d404eb026"}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white cylinder with the purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: release: Right hand releases the white cylinder fitted on the purple rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downwards toward the white hexagonal block on the black table without contact."}, {"label": "goal", "start_step": 2025, "end_step": 2144, "id": "fa861f45-1de7-42d7-b9bc-23c28844e46b"}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand fingers close and adjust around the white hexagonal block to form a stable grip."}, {"label": "subtasks", "start_step": 2108, "end_step": 2144, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "goal", "start_step": 2145, "end_step": 2240, "id": "af11c053-c276-4ff4-885b-8a8e5fb7e3a5"}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: transport: Right hand transports the white block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2234, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white block onto the purple rod by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: place: Right hand places the white block with purple rod onto the top of the bottle on the wooden tray."}, {"label": "goal", "start_step": 2241, "end_step": 2384, "id": "4001c88e-7c79-4d8f-a890-770affc4d8ac"}, {"label": "subtasks", "start_step": 2258, "end_step": 2301, "id": "reasoning-language-00047", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downward toward the green cube on the table surface."}, {"label": "subtasks", "start_step": 2302, "end_step": 2339, "id": "reasoning-language-00048", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table surface."}, {"label": "subtasks", "start_step": 2340, "end_step": 2384, "id": "reasoning-language-00049", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: hold: Right hand holds the green cube on the table surface without moving."}, {"label": "subtasks", "start_step": 2385, "end_step": 2407, "id": "reasoning-language-00050", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green block on the dark table surface."}, {"label": "goal", "start_step": 2385, "end_step": 2528, "id": "42be582d-7252-46c4-aed5-7ba2ea26ed3d"}, {"label": "subtasks", "start_step": 2408, "end_step": 2421, "id": "reasoning-language-00051", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift: Right hand lifts the green block up away from the dark table surface."}, {"label": "subtasks", "start_step": 2422, "end_step": 2451, "id": "reasoning-language-00052", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: transport: Right hand transports the green block towards the rightmost white cylinder with a purple rod on the wooden tray."}, {"label": "subtasks", "start_step": 2452, "end_step": 2481, "id": "reasoning-language-00053", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and lowers the block onto the white cylinder."}, {"label": "subtasks", "start_step": 2482, "end_step": 2534, "id": "reasoning-language-00054", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it on the white cylinder."}, {"label": "home", "start_step": 2580, "end_step": 2610, "id": "75FxEHnnh_zpOuHVzIcnK"}], "language_segments": [{"label": "subtasks", "start_step": 0, "end_step": 74, "id": "reasoning-language-00001", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 75, "end_step": 111, "id": "reasoning-language-00002", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the green hexagonal block."}, {"label": "subtasks", "start_step": 112, "end_step": 209, "id": "reasoning-language-00003", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand aligns the grasped green hexagonal block with the leftmost purple post on the wooden base and inserts it onto the post."}, {"label": "subtasks", "start_step": 210, "end_step": 231, "id": "reasoning-language-00004", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop near the wooden base."}, {"label": "subtasks", "start_step": 232, "end_step": 269, "id": "reasoning-language-00005", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it above the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 270, "end_step": 344, "id": "reasoning-language-00006", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg on the wooden base."}, {"label": "subtasks", "start_step": 345, "end_step": 367, "id": "reasoning-language-00007", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: place: Right hand places the green block onto the purple rod of the wooden base."}, {"label": "subtasks", "start_step": 368, "end_step": 411, "id": "reasoning-language-00008", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downward towards the white block on the dark table surface."}, {"label": "subtasks", "start_step": 412, "end_step": 517, "id": "reasoning-language-00009", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the dark table surface."}, {"label": "subtasks", "start_step": 518, "end_step": 554, "id": "reasoning-language-00010", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post on the wooden base."}, {"label": "subtasks", "start_step": 555, "end_step": 651, "id": "reasoning-language-00011", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it downwards onto the post."}, {"label": "subtasks", "start_step": 652, "end_step": 689, "id": "reasoning-language-00012", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downward towards the white hollow cylinder placed on the black tabletop."}, {"label": "subtasks", "start_step": 690, "end_step": 757, "id": "reasoning-language-00013", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow cylinder on the black tabletop."}, {"label": "subtasks", "start_step": 758, "end_step": 779, "id": "reasoning-language-00014", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 780, "end_step": 831, "id": "reasoning-language-00015", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden rack, aligning the block hole with the rod."}, {"label": "subtasks", "start_step": 832, "end_step": 869, "id": "reasoning-language-00016", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}, {"label": "subtasks", "start_step": 870, "end_step": 891, "id": "reasoning-language-00017", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reorient: Right hand adjusts the orientation of the white cylindrical block on the purple rod of the upper middle wooden base."}, {"label": "subtasks", "start_step": 892, "end_step": 914, "id": "reasoning-language-00018", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table in front of the wooden base."}, {"label": "subtasks", "start_step": 915, "end_step": 1011, "id": "reasoning-language-00019", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form stable grip."}, {"label": "subtasks", "start_step": 1012, "end_step": 1041, "id": "reasoning-language-00020", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the empty purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1042, "end_step": 1124, "id": "reasoning-language-00021", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the empty purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1125, "end_step": 1161, "id": "reasoning-language-00022", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1162, "end_step": 1184, "id": "reasoning-language-00023", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the black table surface."}, {"label": "subtasks", "start_step": 1185, "end_step": 1274, "id": "reasoning-language-00024", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the green cubic block on the table surface."}, {"label": "subtasks", "start_step": 1275, "end_step": 1304, "id": "reasoning-language-00025", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the green cubic object from the black tabletop and transports it to above the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 1305, "end_step": 1447, "id": "reasoning-language-00026", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the green cubic object with the purple rod on the wooden rack by lowering it onto the rod."}, {"label": "subtasks", "start_step": 1448, "end_step": 1484, "id": "reasoning-language-00027", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1485, "end_step": 1544, "id": "reasoning-language-00028", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}, {"label": "subtasks", "start_step": 1545, "end_step": 1567, "id": "reasoning-language-00029", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift: Right hand lifts the white cylindrical object off the black tabletop."}, {"label": "subtasks", "start_step": 1568, "end_step": 1589, "id": "reasoning-language-00030", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the wooden rack with pegs."}, {"label": "subtasks", "start_step": 1590, "end_step": 1634, "id": "reasoning-language-00031", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand aligns and inserts the white cylindrical object onto a peg of the wooden rack."}, {"label": "subtasks", "start_step": 1635, "end_step": 1664, "id": "reasoning-language-00032", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: hold: Right hand holds the white cylindrical object on the peg of the wooden rack without moving."}, {"label": "subtasks", "start_step": 1665, "end_step": 1829, "id": "reasoning-language-00033", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the corresponding peg on the wooden base."}, {"label": "subtasks", "start_step": 1830, "end_step": 1867, "id": "reasoning-language-00034", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the desktop."}, {"label": "subtasks", "start_step": 1868, "end_step": 1904, "id": "reasoning-language-00035", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the desktop."}, {"label": "subtasks", "start_step": 1905, "end_step": 1919, "id": "reasoning-language-00036", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift: Right hand lifts the grasped white cylindrical block upward."}, {"label": "subtasks", "start_step": 1920, "end_step": 1941, "id": "reasoning-language-00037", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the table surface and transports it to the position above the purple rod on the wooden base."}, {"label": "subtasks", "start_step": 1942, "end_step": 2017, "id": "reasoning-language-00038", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white cylinder with the purple rod by lowering it onto the rod."}, {"label": "subtasks", "start_step": 2018, "end_step": 2024, "id": "reasoning-language-00039", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: release: Right hand releases the white cylinder fitted on the purple rod."}, {"label": "subtasks", "start_step": 2025, "end_step": 2061, "id": "reasoning-language-00040", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downwards toward the white hexagonal block on the black table without contact."}, {"label": "subtasks", "start_step": 2062, "end_step": 2107, "id": "reasoning-language-00041", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand fingers close and adjust around the white hexagonal block to form a stable grip."}, {"label": "subtasks", "start_step": 2108, "end_step": 2144, "id": "reasoning-language-00042", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}, {"label": "subtasks", "start_step": 2145, "end_step": 2159, "id": "reasoning-language-00043", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}, {"label": "subtasks", "start_step": 2160, "end_step": 2181, "id": "reasoning-language-00044", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: transport: Right hand transports the white block towards the purple rod on the wooden rack."}, {"label": "subtasks", "start_step": 2182, "end_step": 2234, "id": "reasoning-language-00045", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white block onto the purple rod by aligning and inserting it downward."}, {"label": "subtasks", "start_step": 2235, "end_step": 2257, "id": "reasoning-language-00046", "text": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right 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diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/episodes.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0ab3408e0e72b3de0a66e48d955fc1d72be04603
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/episodes.jsonl
@@ -0,0 +1,50 @@
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diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/episodes_stats.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4dcb386770a07ec221ebde1e6e0c73e221c5d956
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+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/episodes_stats.jsonl
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diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/info.json b/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d094b67a1cbab6bf4d56417a3a4fd54c9c84541
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/info.json
@@ -0,0 +1,537 @@
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+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.head_right": {
+            "dtype": "video",
+            "shape": [
+                480,
+                480,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 480,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.tactile": {
+            "dtype": "float32",
+            "shape": [
+                60
+            ],
+            "names": [
+                "left_thumb_fx",
+                "left_thumb_fy",
+                "left_thumb_fz",
+                "left_thumb_tx",
+                "left_thumb_ty",
+                "left_thumb_tz",
+                "left_index_fx",
+                "left_index_fy",
+                "left_index_fz",
+                "left_index_tx",
+                "left_index_ty",
+                "left_index_tz",
+                "left_middle_fx",
+                "left_middle_fy",
+                "left_middle_fz",
+                "left_middle_tx",
+                "left_middle_ty",
+                "left_middle_tz",
+                "left_ring_fx",
+                "left_ring_fy",
+                "left_ring_fz",
+                "left_ring_tx",
+                "left_ring_ty",
+                "left_ring_tz",
+                "left_little_fx",
+                "left_little_fy",
+                "left_little_fz",
+                "left_little_tx",
+                "left_little_ty",
+                "left_little_tz",
+                "right_thumb_fx",
+                "right_thumb_fy",
+                "right_thumb_fz",
+                "right_thumb_tx",
+                "right_thumb_ty",
+                "right_thumb_tz",
+                "right_index_fx",
+                "right_index_fy",
+                "right_index_fz",
+                "right_index_tx",
+                "right_index_ty",
+                "right_index_tz",
+                "right_middle_fx",
+                "right_middle_fy",
+                "right_middle_fz",
+                "right_middle_tx",
+                "right_middle_ty",
+                "right_middle_tz",
+                "right_ring_fx",
+                "right_ring_fy",
+                "right_ring_fz",
+                "right_ring_tx",
+                "right_ring_ty",
+                "right_ring_tz",
+                "right_little_fx",
+                "right_little_fy",
+                "right_little_fz",
+                "right_little_tx",
+                "right_little_ty",
+                "right_little_tz"
+            ]
+        },
+        "observation.images.tactile_deform": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1200,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1200,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.tactile_raw": {
+            "dtype": "video",
+            "shape": [
+                480,
+                1600,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 1600,
+                "video.codec": "h264",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 30,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        }
+    }
+}
\ No newline at end of file
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/modality.json b/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/modality.json
new file mode 100644
index 0000000000000000000000000000000000000000..a05578e69b2f67b344bf8b72976a7471c3174013
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/modality.json
@@ -0,0 +1,63 @@
+{
+  "video": {
+    "head_left": {
+      "original_key": "observation.images.head_left"
+    },
+    "wrist_left": {
+      "original_key": "observation.images.wrist_left"
+    },
+    "wrist_right": {
+      "original_key": "observation.images.wrist_right"
+    },
+    "head_right": {
+      "original_key": "observation.images.head_right"
+    },
+    "tactile_deform": {
+      "original_key": "observation.images.tactile_deform"
+    },
+    "tactile_raw": {
+      "original_key": "observation.images.tactile_raw"
+    }
+  },
+  "annotation": {
+    "human.action.task_description": {
+      "original_key": "task_index"
+    }
+  },
+  "state": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "observation.state.tcp_pose"
+    }
+  },
+  "action": {
+    "joints": {
+      "start": 0,
+      "end": 65,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action"
+    },
+    "tcp_pose": {
+      "start": 0,
+      "end": 12,
+      "rotation_type": null,
+      "absolute": true,
+      "dtype": "float32",
+      "original_key": "action.tcp_pose"
+    }
+  }
+}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/subtasks.jsonl b/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/subtasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8b999cff9e5991a617dbaec64275253b34e24d31
--- /dev/null
+++ b/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/subtasks.jsonl
@@ -0,0 +1,2884 @@
+{"subtask_index": 0, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green cube on the left front area of the table, approaching the cube without making contact."}
+{"subtask_index": 1, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the left front of the table, with fingers closing and adjusting to form a stable grip on the cube."}
+{"subtask_index": 2, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the left front of the table without moving, the cube remains on the table surface."}
+{"subtask_index": 3, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the black table, adjusting its gripper to form a stable grip around the block."}
+{"subtask_index": 4, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the black table surface."}
+{"subtask_index": 5, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and rightward to position it above the leftmost peg of the wooden stand."}
+{"subtask_index": 6, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost vertical peg of the wooden stand and lowers it onto the peg to establish the assembly fit."}
+{"subtask_index": 7, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green cubic block downward along the leftmost peg of the wooden stand, applying pressure to push the block further down the peg."}
+{"subtask_index": 8, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard toward the white hexagonal block on the left side of the table."}
+{"subtask_index": 9, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table and adjusts to form a stable grasp."}
+{"subtask_index": 10, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it upward toward the pegboard."}
+{"subtask_index": 11, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal piece off the table surface."}
+{"subtask_index": 12, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport_mate: Right hand transports the white hexagonal piece to the leftmost peg of the pegboard and mates it onto the peg."}
+{"subtask_index": 13, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost peg without moving."}
+{"subtask_index": 14, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg board area toward the left white hexagonal block on the table."}
+{"subtask_index": 15, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table with fingers closing around it."}
+{"subtask_index": 16, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}
+{"subtask_index": 17, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table and transports it upward and leftward to the top of the leftmost purple peg on the wooden board."}
+{"subtask_index": 18, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the leftmost purple peg by lowering it onto the peg."}
+{"subtask_index": 19, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal part downward along the leftmost purple peg until it reaches the green base."}
+{"subtask_index": 20, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal part by opening its fingers and separating from the part."}
+{"subtask_index": 21, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block in front of the wooden base."}
+{"subtask_index": 22, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 23, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block without any observable movement."}
+{"subtask_index": 24, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to stabilize the grip while the block stays on the table surface."}
+{"subtask_index": 25, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it upward to the position right above the purple peg on the wooden base."}
+{"subtask_index": 26, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg by lowering it onto the peg, then releases the block and moves slightly upward."}
+{"subtask_index": 27, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal hole piece onto the middle purple vertical peg."}
+{"subtask_index": 28, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green square hole piece on the table surface."}
+{"subtask_index": 29, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square hole piece on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 30, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the work surface and transports it upward and leftward toward the peg board."}
+{"subtask_index": 31, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg of the peg board by aligning and lowering it."}
+{"subtask_index": 32, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the peg board without moving."}
+{"subtask_index": 33, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple rod of the front pegboard and releases it with fingers opening."}
+{"subtask_index": 34, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 35, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers closing and adjusting to stabilize the grip."}
+{"subtask_index": 36, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}
+{"subtask_index": 37, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the black table towards the vertical peg above the green block on the wooden base."}
+{"subtask_index": 38, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the vertical peg above the green block, adjusting position to fit the block down onto the peg."}
+{"subtask_index": 39, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the purple vertical rod and releases its grip."}
+{"subtask_index": 40, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 41, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the white hexagonal block on the table surface about 90 degrees to make it lie flat."}
+{"subtask_index": 42, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block lying on the table surface."}
+{"subtask_index": 43, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward away from the table surface."}
+{"subtask_index": 44, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the small white hollow cube on the right side of the table and lifts it off the table surface."}
+{"subtask_index": 45, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the small white hollow cube to the position above the table next to the other white hollow cube."}
+{"subtask_index": 46, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the small white hollow cube on the table surface and releases its grasp."}
+{"subtask_index": 47, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: idle: Right hand remains empty above the small white hollow cube on the table without moving."}
+{"subtask_index": 48, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps the small white hollow cube on the table and lifts it off the table surface."}
+{"subtask_index": 49, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the small white hollow cube upward to the position above the purple rod on the wooden base."}
+{"subtask_index": 50, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the small white hollow cube with the purple rod by lowering the cube onto the rod to fit the rod through the cube's hole."}
+{"subtask_index": 51, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod on the wooden base and releases the block."}
+{"subtask_index": 52, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the right side of the table."}
+{"subtask_index": 53, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}
+{"subtask_index": 54, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}
+{"subtask_index": 55, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white perforated block from the black table surface."}
+{"subtask_index": 56, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white perforated block upward and leftward to the position above the purple rod on the wooden base."}
+{"subtask_index": 57, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white perforated block with the purple rod and inserts it downward onto the rod to fit with the existing block below."}
+{"subtask_index": 58, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white perforated block on the purple rod without moving."}
+{"subtask_index": 59, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the rightmost stacked column."}
+{"subtask_index": 60, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark gray table surface."}
+{"subtask_index": 61, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark gray table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 62, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green ring from the right side of the tabletop."}
+{"subtask_index": 63, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green ring upward and leftward to the top of the rightmost bottle on the wooden tray."}
+{"subtask_index": 64, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the green ring onto the rightmost bottle on the wooden tray and releases the green ring."}
+{"subtask_index": 65, "subtask": "Task: TicTacToe"}
+{"subtask_index": 66, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block at the left side of the wooden base on the black table with fingers open."}
+{"subtask_index": 67, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green block, making small adjustments to form a stable grip."}
+{"subtask_index": 68, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the wooden base with purple pegs and a green block from the table surface."}
+{"subtask_index": 69, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the wooden base upward to align purple pegs with holes of upper white blocks."}
+{"subtask_index": 70, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the leftmost purple peg to secure white blocks on the pegs."}
+{"subtask_index": 71, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the purple rod of the wooden base."}
+{"subtask_index": 72, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 73, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the white hexagonal block on the black tabletop."}
+{"subtask_index": 74, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block from the black table surface."}
+{"subtask_index": 75, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the top of the leftmost purple rod on the wooden base."}
+{"subtask_index": 76, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple rod by inserting it onto the rod."}
+{"subtask_index": 77, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white hexagonal block down along the purple rod to the green base and releases the block."}
+{"subtask_index": 78, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black desktop."}
+{"subtask_index": 79, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grip on the left white hexagonal block on the black desktop."}
+{"subtask_index": 80, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the black desktop without moving."}
+{"subtask_index": 81, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the leftmost purple post on the wooden rack."}
+{"subtask_index": 82, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple post and inserts it onto the post."}
+{"subtask_index": 83, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the leftmost purple post to secure it in place."}
+{"subtask_index": 84, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the leftmost vertical rod of the wooden base."}
+{"subtask_index": 85, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves downward away from the wooden base."}
+{"subtask_index": 86, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the table in front of the wooden base."}
+{"subtask_index": 87, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}
+{"subtask_index": 88, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it above the purple peg on the wooden base."}
+{"subtask_index": 89, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg."}
+{"subtask_index": 90, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down to secure it on the purple peg."}
+{"subtask_index": 91, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple peg without moving."}
+{"subtask_index": 92, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}
+{"subtask_index": 93, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table."}
+{"subtask_index": 94, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the black table."}
+{"subtask_index": 95, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and moves it toward the wooden base with pegs."}
+{"subtask_index": 96, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the middle peg on the wooden base and inserts it onto the peg."}
+{"subtask_index": 97, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the peg to secure it in place."}
+{"subtask_index": 98, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the green block on the wooden base."}
+{"subtask_index": 99, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}
+{"subtask_index": 100, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers and closes to grasp the white hexagonal block on the table."}
+{"subtask_index": 101, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block slightly off the table surface."}
+{"subtask_index": 102, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the pegs on the wooden base."}
+{"subtask_index": 103, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the target peg on the wooden base."}
+{"subtask_index": 104, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the table near the wooden base."}
+{"subtask_index": 105, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the white cylindrical block on the table, adjusting to form a stable grip."}
+{"subtask_index": 106, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden block rack."}
+{"subtask_index": 107, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the peg on the wooden rack and inserts it to complete assembly."}
+{"subtask_index": 108, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 109, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the table surface."}
+{"subtask_index": 110, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table surface."}
+{"subtask_index": 111, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block upwards away from the table surface."}
+{"subtask_index": 112, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block towards the wooden rack at the top middle of the frame."}
+{"subtask_index": 113, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the target peg on the wooden rack by aligning and inserting it downwards."}
+{"subtask_index": 114, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical component onto the wooden base and releases the component."}
+{"subtask_index": 115, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty toward the green square block on the table surface."}
+{"subtask_index": 116, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table with fingers closing around it."}
+{"subtask_index": 117, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upwards off the table surface."}
+{"subtask_index": 118, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block upwards and towards the target white bottle on the wooden rack."}
+{"subtask_index": 119, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and fits it onto the bottle to complete assembly."}
+{"subtask_index": 120, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block by opening fingers, separating from the block."}
+{"subtask_index": 121, "subtask": "Left hand: return_home: Left hand moves from the left initial position upward to the left home position, with fingers slightly extended. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block near the wooden base, with fingers open during the movement."}
+{"subtask_index": 122, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves from the right initial position toward the green hexagonal block near the wooden base, with fingers open during the movement."}
+{"subtask_index": 123, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers and adjusts contact positions to form a stable grip on the green hexagonal block resting on the table."}
+{"subtask_index": 124, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand moves upward while holding the green hexagonal block, lifting the block completely off the table surface."}
+{"subtask_index": 125, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the left of the wooden base to establish a firm grip."}
+{"subtask_index": 126, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand moves the gripped green hexagonal block upward to lift it fully off the wooden base surface."}
+{"subtask_index": 127, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport: Right hand moves the lifted green hexagonal block horizontally to position it directly over the leftmost purple peg on the base."}
+{"subtask_index": 128, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand lowers the green hexagonal block to align its central hole with the leftmost purple peg and fit the block onto the peg."}
+{"subtask_index": 129, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the green hexagonal block assembled on the leftmost purple peg without any observable movement or adjustment."}
+{"subtask_index": 130, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple peg to set it on the wooden pegboard base, and opens fingers to release the block."}
+{"subtask_index": 131, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves empty downward and forward from the pegboard area toward the front-left white hexagonal block resting on the table."}
+{"subtask_index": 132, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, with small adjustments of fingers and wrist to form a stable grip."}
+{"subtask_index": 133, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the front-left white hexagonal block on the table without observable movement of the hand, fingers, or the block."}
+{"subtask_index": 134, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface and moves it upward to the position above the leftmost purple rod on the wooden assembly stand."}
+{"subtask_index": 135, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand adjusts the posture of the white hexagonal block to align its hole with the purple rod, moves the block downward to fit it onto the rod, and makes slight adjustments to secure the assembly."}
+{"subtask_index": 136, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any observable movement or hand shape change."}
+{"subtask_index": 137, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place_release: Right hand places the grasped white cylindrical block onto the rod of the assembly rack until the block is stably supported, opening fingers to release the block."}
+{"subtask_index": 138, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves downward from the assembly rack toward the left white hexagonal block on the black work surface, without contacting the target block."}
+{"subtask_index": 139, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the left white hexagonal block on the work surface to form a stable grasp, with the block remaining on the work surface."}
+{"subtask_index": 140, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block is fully separated from the work surface."}
+{"subtask_index": 141, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand adjusts finger positions and closes around the white hexagonal block on the dark table surface to form a stable grasp."}
+{"subtask_index": 142, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface and moves it upward to position directly above the front-left purple rod on the wooden rack."}
+{"subtask_index": 143, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and lowers the block to fit it onto the rod, making small positional adjustments during assembly."}
+{"subtask_index": 144, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand grips the white cylindrical component on the rightmost purple rod of the wooden stand, lifts it upward until the component is fully detached from the rod."}
+{"subtask_index": 145, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport_place: Right hand carries the detached white cylindrical component downward to the table surface near the front of the wooden stand, placing it onto the table where it is supported by the surface."}
+{"subtask_index": 146, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach_grasp: Right hand moves leftward to approach the white hexagonal component on the table in front of the wooden stand, closes fingers around the component and makes small adjustments to form a stable grip."}
+{"subtask_index": 147, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand holds the stably gripped white hexagonal component, lifts it upward slightly so it is no longer in contact with the table surface."}
+{"subtask_index": 148, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport: Right hand carries the white hexagonal block to move toward the purple vertical rod on the wooden base."}
+{"subtask_index": 149, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod, and nests the block onto the rod with slight position adjustments until the block is stably fitted."}
+{"subtask_index": 150, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the white hexagonal block stably fitted on the purple vertical rod without any movement."}
+{"subtask_index": 151, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to place it onto the middle purple peg of the wooden stand until the block rests on the wooden base, fingers opening to release the block."}
+{"subtask_index": 152, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block on the dark table surface, approaching the target block."}
+{"subtask_index": 153, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand adjusts fingers around the green hexagonal block on the table, closing fingers gradually to establish a grip on the block with minor wrist positioning adjustments."}
+{"subtask_index": 154, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block completely off the work surface and moves it upward toward the wooden assembly block set."}
+{"subtask_index": 155, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the middle purple peg on the wooden base, then lowers the block to fit it onto the peg with small positional adjustments."}
+{"subtask_index": 156, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the green hexagonal block seated on the middle purple peg of the wooden assembly base without any observable movement."}
+{"subtask_index": 157, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: release: Right hand opens fingers to release the green hexagonal block seated on the purple rod, gradually separating from the block."}
+{"subtask_index": 158, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves downward with an empty palm, approaching the white hexagonal block placed on the dark table surface."}
+{"subtask_index": 159, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to finger positions to establish a grip on the block."}
+{"subtask_index": 160, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand holds the white hexagonal cylinder, lifts it off the dark table surface, and transports it upward to the area above the wooden peg assembly."}
+{"subtask_index": 161, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand adjusts the position of the white hexagonal cylinder to align its central hole with the target vertical peg, moves the cylinder downward to fit it onto the peg."}
+{"subtask_index": 162, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: release: Right hand releases the top white cylindrical block on the wooden block stack, fingers opening to separate from the block surface."}
+{"subtask_index": 163, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves down and to the right toward the white hexagonal block resting on the table adjacent to the wooden base, fingers held open as it approaches the target."}
+{"subtask_index": 164, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, fingers close around the block and make small adjustments to establish a grip on the object."}
+{"subtask_index": 165, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the dark table surface."}
+{"subtask_index": 166, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport: Right hand carries the white hexagonal block upward and leftward to the position directly above the purple rod on the wooden base."}
+{"subtask_index": 167, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and moves the block downward to fit it onto the rod."}
+{"subtask_index": 168, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves from the upper area near the purple rod downward to the position above the white hexagonal nut on the black table, with fingers open."}
+{"subtask_index": 169, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting slightly to form a stable grip."}
+{"subtask_index": 170, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the white hexagonal nut on the table without any visible movement of the hand, fingers or the nut."}
+{"subtask_index": 171, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift_transport: Right hand lifts the small white cylindrical block off the dark table surface and moves it upward and left to position it directly above the target slot on the wooden block holder."}
+{"subtask_index": 172, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: mate: Right hand aligns the small white cylindrical block with the purple rod in the target slot of the wooden holder and lowers the block to insert it onto the rod."}
+{"subtask_index": 173, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the fully inserted small white cylindrical block in the target slot on the wooden block holder without moving."}
+{"subtask_index": 174, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: release: Right hand releases the purple cap on the small white bottle placed on the wooden tray, fingers opening to separate from the cap."}
+{"subtask_index": 175, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: reach: Right hand moves empty downward toward the green cube resting on the dark table surface."}
+{"subtask_index": 176, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: grasp: Right hand closes fingers around the green cube on the table, adjusting finger positions to form a stable grasp while the cube remains on the surface."}
+{"subtask_index": 177, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: lift: Right hand lifts the grasped green cube upward to separate it from the dark table surface."}
+{"subtask_index": 178, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: transport_mate: Right hand transports the green block toward the top of the purple-capped bottle on the wooden tray, aligning the block's opening with the bottle cap."}
+{"subtask_index": 179, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: place: Right hand lowers the green block downward to place it onto the purple-capped bottle."}
+{"subtask_index": 180, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without contacting any object. | Right hand: hold: Right hand holds the green block steady on top of the purple-capped bottle without observable movement."}
+{"subtask_index": 181, "subtask": "Left hand: return_home: Left hand moves upward from its initial lower position to the left home position, empty-handed. | Right hand: reach: Right hand moves leftward from the right side of the table toward the central pegboard with stacked pieces, empty-handed."}
+{"subtask_index": 182, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the central pegboard with stacked pieces, empty-handed."}
+{"subtask_index": 183, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white piece with a green base on the leftmost peg of the central board."}
+{"subtask_index": 184, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the grasped piece upward until it is fully separated from the supporting peg."}
+{"subtask_index": 185, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand carries the grasped piece leftward and downward to the area above the green hexagonal block on the table."}
+{"subtask_index": 186, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand adjusts the position and orientation of the grasped piece to align it with the hole of the green hexagonal block."}
+{"subtask_index": 187, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts and transports the green square block from the black table surface to the position above the leftmost purple peg on the wooden base."}
+{"subtask_index": 188, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand mates the green square block onto the leftmost purple peg by lowering and fitting it into place."}
+{"subtask_index": 189, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the green square block on the leftmost purple peg without moving."}
+{"subtask_index": 190, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple peg of the wooden base and releases the block."}
+{"subtask_index": 191, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the black table surface."}
+{"subtask_index": 192, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 193, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without moving."}
+{"subtask_index": 194, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal nut on the dark table near the small green block, with fingers adjusting to form a stable grip."}
+{"subtask_index": 195, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward to the area above the purple pegs on the base."}
+{"subtask_index": 196, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal nut with a purple peg and lowers it to fit onto the peg."}
+{"subtask_index": 197, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}
+{"subtask_index": 198, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg on the wooden base and releases the block."}
+{"subtask_index": 199, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand reaches downward toward the left white hexagonal block on the table surface."}
+{"subtask_index": 200, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 201, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}
+{"subtask_index": 202, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport_mate: Right hand transports the white hollow cylindrical part upward and leftward above the black table to the left front purple peg of the wooden pegboard and inserts the part onto the peg."}
+{"subtask_index": 203, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white hollow cylindrical part on the left front purple peg of the pegboard without moving."}
+{"subtask_index": 204, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: place_release: Right hand places the white ring onto the left purple peg of the wooden base and releases the ring."}
+{"subtask_index": 205, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table in front of the wooden base."}
+{"subtask_index": 206, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white ring on the table in front of the wooden base, with fingers adjusting to stabilize the grip."}
+{"subtask_index": 207, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the position above the purple pegs on the wooden base."}
+{"subtask_index": 208, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and moves it downward to fit the block onto the peg."}
+{"subtask_index": 209, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white hollow cylinder, with fingers opening and separating from the cylinder."}
+{"subtask_index": 210, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward to reach the green hollow square on the black table surface."}
+{"subtask_index": 211, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the green hollow square on the black table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 212, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green square block off the table and transports it to the position above the peg on the wooden rack."}
+{"subtask_index": 213, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the green square block with the peg and moves it downward to mate the block onto the peg."}
+{"subtask_index": 214, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the green square block by opening its fingers."}
+{"subtask_index": 215, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: retreat: Right hand retreats toward the right side after releasing the green square block."}
+{"subtask_index": 216, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 217, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 218, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it above the peg rack with stacked cylinders."}
+{"subtask_index": 219, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto a vertical peg of the rack, lowering it down along the peg until fully fitted."}
+{"subtask_index": 220, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white cylindrical part on the top of the stacked block column, with fingers opening gradually."}
+{"subtask_index": 221, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand reaches downward and rightward toward the white hexagonal hollow part on the table."}
+{"subtask_index": 222, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal hollow part on the table, with fingers closing around the part."}
+{"subtask_index": 223, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal hollow part upward away from the table surface."}
+{"subtask_index": 224, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand holds the white cylindrical block and moves it upward and leftward toward the purple rod on the wooden rack."}
+{"subtask_index": 225, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the hole of the white cylindrical block with the purple rod and inserts the block down onto the rod."}
+{"subtask_index": 226, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}
+{"subtask_index": 227, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white block on the purple rod of the wooden tray, with fingers opening to separate from the block."}
+{"subtask_index": 228, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand reaches toward the white cylindrical block on the dark table surface, moving downwards and to the right."}
+{"subtask_index": 229, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table surface, with fingers closing around the block to adjust the grip."}
+{"subtask_index": 230, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the white cylindrical block upwards off the table surface while holding it."}
+{"subtask_index": 231, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand transports the white hollow block upward and leftward to the position above the purple rod on the wooden board."}
+{"subtask_index": 232, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by lowering it onto the rod until the block rests on the base below the rod."}
+{"subtask_index": 233, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the white hollow block, with fingers opening and separating from the block."}
+{"subtask_index": 234, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: retreat: Right hand retreats upward away from the purple rod position while empty."}
+{"subtask_index": 235, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: open: Right hand opens the pump head of the front-right white bottle with green lower part on the wooden base."}
+{"subtask_index": 236, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: hold: Right hand holds the pump head of the front-right white bottle on the wooden base without moving."}
+{"subtask_index": 237, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: reach: Right hand moves downward toward the green cubic object on the table, empty-handed."}
+{"subtask_index": 238, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: grasp: Right hand grasps the green cubic object on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 239, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: lift: Right hand lifts the green cubic object upward, making it leave the table surface."}
+{"subtask_index": 240, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: transport: Right hand transports the green block toward the white bottle on the wooden rack."}
+{"subtask_index": 241, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle and fits it onto the bottle."}
+{"subtask_index": 242, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: press: Right hand presses the green block down onto the white bottle to secure the assembly."}
+{"subtask_index": 243, "subtask": "Left hand: idle: Left hand remains empty and stationary at the left home position without moving. | Right hand: release: Right hand releases the green block by opening its fingers and separating from the block."}
+{"subtask_index": 244, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves towards the white cylindrical block placed on the purple rod of the wooden rack."}
+{"subtask_index": 245, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the purple rod, adjusting the grip to be stable."}
+{"subtask_index": 246, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the grasped white cylindrical block downwards along the purple rod."}
+{"subtask_index": 247, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it upwards to the top of the leftmost purple peg on the wooden base."}
+{"subtask_index": 248, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block with the leftmost purple peg by aligning and inserting it partially onto the peg."}
+{"subtask_index": 249, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the green block down along the leftmost purple peg to fit it in place."}
+{"subtask_index": 250, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg without moving."}
+{"subtask_index": 251, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white block onto the purple rod of the wooden base."}
+{"subtask_index": 252, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}
+{"subtask_index": 253, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand adjusts and closes fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 254, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to above the purple peg on the wooden base."}
+{"subtask_index": 255, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg by aligning and inserting it onto the peg."}
+{"subtask_index": 256, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple peg to secure it in place."}
+{"subtask_index": 257, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white hexagonal ring onto the leftmost purple rod of the wooden base."}
+{"subtask_index": 258, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward towards the left white hexagonal ring placed on the table."}
+{"subtask_index": 259, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the left white hexagonal ring on the table."}
+{"subtask_index": 260, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal ring upward off the table surface."}
+{"subtask_index": 261, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the target peg on the wooden base."}
+{"subtask_index": 262, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg and inserts it onto the peg."}
+{"subtask_index": 263, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the target peg without moving."}
+{"subtask_index": 264, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward to approach the white cylindrical object in front of the wooden base."}
+{"subtask_index": 265, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical object, with slight grip adjustment during the process."}
+{"subtask_index": 266, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple peg on the wooden base."}
+{"subtask_index": 267, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the purple peg and presses it down onto the peg."}
+{"subtask_index": 268, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}
+{"subtask_index": 269, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand releases the white hexagonal block on the purple peg."}
+{"subtask_index": 270, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple rod of the wooden base, pressing it slightly to fit."}
+{"subtask_index": 271, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the table in front of the wooden base."}
+{"subtask_index": 272, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 273, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it upward toward the wooden base."}
+{"subtask_index": 274, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block off the black table surface."}
+{"subtask_index": 275, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block to above the target peg on the wooden base."}
+{"subtask_index": 276, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the target peg of the wooden base."}
+{"subtask_index": 277, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the green block on the peg of the wooden base without moving."}
+{"subtask_index": 278, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the green block onto the purple peg on the wooden base."}
+{"subtask_index": 279, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 280, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the black table surface to form a stable grasp."}
+{"subtask_index": 281, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 282, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod above the green block on the wooden base."}
+{"subtask_index": 283, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}
+{"subtask_index": 284, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white cylindrical block onto the peg of the wooden base."}
+{"subtask_index": 285, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the table to the right of the wooden base."}
+{"subtask_index": 286, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table."}
+{"subtask_index": 287, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand holds the small white cap and moves it toward the purple rod on the wooden rack."}
+{"subtask_index": 288, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns and fits the small white cap onto the top of the purple rod."}
+{"subtask_index": 289, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: hold: Right hand holds the white cap on the purple rod without moving."}
+{"subtask_index": 290, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand mates the white cylinder onto the purple rod on the wooden base."}
+{"subtask_index": 291, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the white cylinder placed on the black tabletop."}
+{"subtask_index": 292, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand closes its fingers around the white cylinder on the black tabletop to form a stable grasp."}
+{"subtask_index": 293, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the white cylinder upward off the black tabletop."}
+{"subtask_index": 294, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it above the empty position on the wooden tray."}
+{"subtask_index": 295, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the white block onto the empty position on the wooden tray."}
+{"subtask_index": 296, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the white block down on the wooden tray to secure it."}
+{"subtask_index": 297, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: press: Right hand presses the top of the rightmost white bottle on the wooden base."}
+{"subtask_index": 298, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: retreat: Right hand moves upward away from the white bottle."}
+{"subtask_index": 299, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table."}
+{"subtask_index": 300, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: grasp: Right hand contacts the green cubic block, adjusts fingers to form a stable grasp on it."}
+{"subtask_index": 301, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: lift: Right hand lifts the green block from the black table surface."}
+{"subtask_index": 302, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: transport: Right hand transports the green block towards the white bottle on the wooden rack."}
+{"subtask_index": 303, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle for assembly."}
+{"subtask_index": 304, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: place: Right hand places the green block onto the top of the white bottle until it is supported by the bottle."}
+{"subtask_index": 305, "subtask": "Left hand: idle: Left hand remains empty at the left side of the operating area without moving. | Right hand: release: Right hand opens its fingers to release the green block and separate from it."}
+{"subtask_index": 306, "subtask": "Left hand: return_home: Left hand moves upward to the left home position while remaining empty. | Right hand: return_home: Right hand moves upward to the right home position while remaining empty."}
+{"subtask_index": 307, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: idle: Right hand remains empty at the right home position without moving toward any target object."}
+{"subtask_index": 308, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block near the wooden base, with fingers held slightly open."}
+{"subtask_index": 309, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, adjusting finger and wrist positions to establish a stable grip."}
+{"subtask_index": 310, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand grips the green hexagonal block and lifts it slightly upward from the table surface."}
+{"subtask_index": 311, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to establish a stable grasp on the green hexagonal block resting on the dark table surface adjacent to the wooden pegboard."}
+{"subtask_index": 312, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until it is fully lifted off the dark table surface."}
+{"subtask_index": 313, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport_mate: Right hand moves the grasped green hexagonal block above the target purple peg on the wooden pegboard, aligns the block with the peg and lowers it to fit onto the peg."}
+{"subtask_index": 314, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the green hexagonal block mounted on the purple peg of the wooden assembly base."}
+{"subtask_index": 315, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the purple peg and moves it downward toward the dark table surface."}
+{"subtask_index": 316, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place: Right hand lowers the green hexagonal block onto the table surface, making slight positional adjustments to set the block stably."}
+{"subtask_index": 317, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal component from the black table surface and transports it to the position directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 318, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal component with the purple peg and fits it onto the peg to establish the assembly fit."}
+{"subtask_index": 319, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses the white hexagonal component downward along the purple peg to seat it securely on the green block beneath."}
+{"subtask_index": 320, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downwards from the wooden rack toward the front-left white hexagonal nut on the black table surface, approaching the target."}
+{"subtask_index": 321, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal nut on the table, making slight adjustments to finger positions to establish a stable grasp."}
+{"subtask_index": 322, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position above the purple rod on the wooden block stand."}
+{"subtask_index": 323, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod, making small positional adjustments during alignment."}
+{"subtask_index": 324, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the upper assembly area toward the white hexagonal nut positioned in front of the wooden base."}
+{"subtask_index": 325, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut, making small grip adjustments while the nut remains on the table surface."}
+{"subtask_index": 326, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully separated from the table surface."}
+{"subtask_index": 327, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward toward the purple rod on the wooden base."}
+{"subtask_index": 328, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it from the supporting surface near the wooden base, and moves it upward to the position directly above the target purple peg on the base."}
+{"subtask_index": 329, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, makes slight positional adjustments, and lowers the block to fit it onto the peg until the block rests on the wooden base surface."}
+{"subtask_index": 330, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward from the upper wooden block rack toward the front green hexagonal block on the dark table surface."}
+{"subtask_index": 331, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes fingers around the front green hexagonal block on the table, adjusting finger positions to form a stable grip."}
+{"subtask_index": 332, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, raising it completely off the dark table surface."}
+{"subtask_index": 333, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand moves the green hexagonal block to the purple vertical peg on the wooden base, aligns the block's central hole with the peg, and lowers the block to fit onto the peg."}
+{"subtask_index": 334, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block steady on the purple peg without any visible movement of the hand or block."}
+{"subtask_index": 335, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses vertically down on the top surface of the green hexagonal block mounted on the wooden assembly stand to secure it."}
+{"subtask_index": 336, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty downward across the table toward the frontmost white hexagonal block."}
+{"subtask_index": 337, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand positions its fingers around the frontmost white hexagonal block on the table, adjusting finger placement to establish a grip."}
+{"subtask_index": 338, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward until the block fully leaves the black table surface."}
+{"subtask_index": 339, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand transports the lifted white hexagonal block leftward and upward to the position directly above the purple rod on the wooden block base."}
+{"subtask_index": 340, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers the block to fit it onto the rod, establishing the assembly connection."}
+{"subtask_index": 341, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple rod without any observable movement or adjustment."}
+{"subtask_index": 342, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand holds the green and white cylindrical block, moves downward to seat the block onto the wooden base assembly, releases fingers to separate from the supported block."}
+{"subtask_index": 343, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and rightward while empty, approaching the small white hexagonal block on the dark table surface near the wooden base."}
+{"subtask_index": 344, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, adjusts finger positions and closes fingers to establish a grasp on the block."}
+{"subtask_index": 345, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand holds the white hexagonal nut resting on the table and lifts it upward until the nut is completely off the dark table surface."}
+{"subtask_index": 346, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut and moves it upward then horizontally to the position directly above the purple rod on the light wooden rack."}
+{"subtask_index": 347, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal nut with the top of the purple rod, moves the nut downward to fit it onto the rod, opens fingers to release the nut on the rod."}
+{"subtask_index": 348, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward and slightly right toward the white hexagonal nut on the dark work surface, with fingers held in an extended posture."}
+{"subtask_index": 349, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal nut, fingers closing and making small adjustments to establish a secure grip on the nut."}
+{"subtask_index": 350, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand holds the white cylindrical block resting on the black table surface and lifts it upward until the block is completely separated from the table."}
+{"subtask_index": 351, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand carries the lifted white cylindrical block upward through the air toward the empty slot on the wooden block rack, stopping directly above the slot."}
+{"subtask_index": 352, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand adjusts the white cylindrical block to align with the empty slot on the wooden rack and inserts the block into the slot until it is stably seated in the rack."}
+{"subtask_index": 353, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the stably seated white cylindrical block on the wooden rack without any visible movement of the hand or the block."}
+{"subtask_index": 354, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand holds the white cap, adjusts its position over the purple post on the light wooden base, presses the cap down to a stable seated position, opens fingers to release contact with the cap."}
+{"subtask_index": 355, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green cube resting on the dark table surface."}
+{"subtask_index": 356, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand makes contact with the green cube on the table, closes fingers around the cube to establish a stable grip."}
+{"subtask_index": 357, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand moves the stably grasped green cube upward, lifting the cube fully off the dark table surface."}
+{"subtask_index": 358, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand holds the green block, transports it upward and forward to the position directly above the target purple-capped cylinder on the wooden block base."}
+{"subtask_index": 359, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand makes slight positional adjustments to the held green block, aligns its central hole with the top of the target purple-capped cylinder for assembly."}
+{"subtask_index": 360, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: place_release: Right hand moves the aligned green block downward onto the target cylinder until the block is stably supported, opens fingers to release grip on the green block."}
+{"subtask_index": 361, "subtask": "Left hand: return_home: Left hand moves upward from the lower left position to the left home position. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green block on the left side of the wooden rack."}
+{"subtask_index": 362, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves leftward from the right side of the table toward the green block on the left side of the wooden rack."}
+{"subtask_index": 363, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green block on the table."}
+{"subtask_index": 364, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green block without any observable movement."}
+{"subtask_index": 365, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green cube on the table surface, with fingers closing to form a stable grip."}
+{"subtask_index": 366, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green cube off the table surface and transports it to above the leftmost peg of the wooden board."}
+{"subtask_index": 367, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the green cube with the leftmost peg on the wooden board, moving downward to fit the cube onto the peg."}
+{"subtask_index": 368, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green cube fitted on the leftmost peg without moving."}
+{"subtask_index": 369, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place_release: Right hand places the green hexagonal block onto the base of the leftmost purple peg and releases it."}
+{"subtask_index": 370, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the left side of the table, moving down from the peg assembly area."}
+{"subtask_index": 371, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around the block."}
+{"subtask_index": 372, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}
+{"subtask_index": 373, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the white hex nut up from the black table surface."}
+{"subtask_index": 374, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the white hex nut towards the leftmost vertical peg on the wooden base."}
+{"subtask_index": 375, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hex nut onto the leftmost vertical peg by moving downwards to fit over the peg."}
+{"subtask_index": 376, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hex nut on the leftmost vertical peg over the green base without moving."}
+{"subtask_index": 377, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate_release: Right hand fits the white holed cylindrical piece onto the leftmost vertical peg and releases its grip."}
+{"subtask_index": 378, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the table surface."}
+{"subtask_index": 379, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing and adjusting contact position."}
+{"subtask_index": 380, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it toward the back peg board."}
+{"subtask_index": 381, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning and pushing it down to the green base."}
+{"subtask_index": 382, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the white hexagonal block by opening fingers to separate from the block."}
+{"subtask_index": 383, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: idle: Right hand remains empty above the leftmost peg without moving."}
+{"subtask_index": 384, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward from the top of the peg block set to approach the white hexagonal cube on the table in front of the wooden base."}
+{"subtask_index": 385, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal cube on the table in front of the wooden base, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 386, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal cube on the table in front of the wooden base without moving."}
+{"subtask_index": 387, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 388, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the top of the middle purple peg."}
+{"subtask_index": 389, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg by lowering and fitting it over the peg."}
+{"subtask_index": 390, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the middle purple peg without moving."}
+{"subtask_index": 391, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the right purple rod of the wooden base."}
+{"subtask_index": 392, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand reaches downward toward the green cubic block on the table surface."}
+{"subtask_index": 393, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 394, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position right above the peg on the wooden base."}
+{"subtask_index": 395, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green block with the peg and inserts it downwards to complete the assembly."}
+{"subtask_index": 396, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release: Right hand releases the green block, with fingers separating from the block."}
+{"subtask_index": 397, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the black table surface."}
+{"subtask_index": 398, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 399, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward, making it leave the table surface."}
+{"subtask_index": 400, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the black table surface and transports it upward and rightward to the position above the peg rack."}
+{"subtask_index": 401, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the vertical peg of the rack, moving downward to fit the block onto the peg."}
+{"subtask_index": 402, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hollow block on the purple peg above the green block without moving."}
+{"subtask_index": 403, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: release_reach: Right hand releases the white hollow block on the purple peg and moves toward the white hollow hexagonal block on the table."}
+{"subtask_index": 404, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the table with fingers closing to form a grip."}
+{"subtask_index": 405, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white hollow hexagonal block on the table without moving."}
+{"subtask_index": 406, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the white hollow hexagonal block upward from the table surface."}
+{"subtask_index": 407, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the white cylindrical part upward and leftward toward the purple rod on the wooden base."}
+{"subtask_index": 408, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical part with the purple rod by aligning and lowering it onto the rod."}
+{"subtask_index": 409, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical part on the purple rod without moving."}
+{"subtask_index": 410, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: place_release: Right hand places the white block onto the purple rod and releases it."}
+{"subtask_index": 411, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves downward to approach the white block on the table surface."}
+{"subtask_index": 412, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand grasps the white block on the table surface with fingers closing and adjusting."}
+{"subtask_index": 413, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the dark table surface and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 414, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod of the wooden rack by aligning and lowering it."}
+{"subtask_index": 415, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the white cylindrical object on the purple rod of the wooden rack without moving."}
+{"subtask_index": 416, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: press_release: Right hand presses the purple small cylinder into the top of the front-right white cylindrical block on the wooden base and releases its grip."}
+{"subtask_index": 417, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: reach: Right hand moves down-right toward the green cubic block on the dark table surface."}
+{"subtask_index": 418, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green cubic block on the dark table surface."}
+{"subtask_index": 419, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green cubic block on the dark table surface without moving."}
+{"subtask_index": 420, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the dark table surface."}
+{"subtask_index": 421, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: transport: Right hand transports the green ring-shaped object upward and leftward to the top of the rightmost bottle with a purple rod."}
+{"subtask_index": 422, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: mate: Right hand aligns the green ring-shaped object with the purple rod of the rightmost bottle and fits it downward onto the bottle."}
+{"subtask_index": 423, "subtask": "Left hand: idle: Left hand remains empty at the left home position without moving. | Right hand: hold: Right hand holds the green ring-shaped object on the rightmost bottle without moving."}
+{"subtask_index": 424, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves forward toward the green hexagonal block on the black table."}
+{"subtask_index": 425, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers close to adjust and form a stable grip."}
+{"subtask_index": 426, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block without moving."}
+{"subtask_index": 427, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block from the black table surface."}
+{"subtask_index": 428, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block to the position above the purple peg on the wooden base."}
+{"subtask_index": 429, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and inserts it onto the peg."}
+{"subtask_index": 430, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green hexagonal block down along the purple peg to secure it tightly."}
+{"subtask_index": 431, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the purple rod on the wooden base."}
+{"subtask_index": 432, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 433, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 434, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it to above the target purple rod on the wooden base."}
+{"subtask_index": 435, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 436, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in place."}
+{"subtask_index": 437, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block onto the leftmost purple rod of the wooden base."}
+{"subtask_index": 438, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black tabletop."}
+{"subtask_index": 439, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the tabletop, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 440, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface, then transports it to the position above the target peg on the wooden rack."}
+{"subtask_index": 441, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg, then inserts it onto the peg to complete the assembly."}
+{"subtask_index": 442, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block placed on the black table surface."}
+{"subtask_index": 443, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hollow block on the black table surface."}
+{"subtask_index": 444, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}
+{"subtask_index": 445, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white hexagonal block above the target purple rod on the wooden base."}
+{"subtask_index": 446, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod."}
+{"subtask_index": 447, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}
+{"subtask_index": 448, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the table."}
+{"subtask_index": 449, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward away from the table surface."}
+{"subtask_index": 450, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the peg on the wooden base."}
+{"subtask_index": 451, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the green block onto the peg of the wooden base."}
+{"subtask_index": 452, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the peg without moving."}
+{"subtask_index": 453, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the vertical rod on the wooden base."}
+{"subtask_index": 454, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block on the black table surface."}
+{"subtask_index": 455, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the black table surface."}
+{"subtask_index": 456, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object from the black table surface."}
+{"subtask_index": 457, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the wooden base with pegs."}
+{"subtask_index": 458, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the target peg on the wooden base."}
+{"subtask_index": 459, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards and rightwards towards the white cylindrical ring on the table surface, not yet touching the object."}
+{"subtask_index": 460, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical ring on the table surface, adjusting grip to secure the object."}
+{"subtask_index": 461, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table surface and transports it towards the purple peg on the wooden base."}
+{"subtask_index": 462, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base, adjusting to fit the block onto the peg."}
+{"subtask_index": 463, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}
+{"subtask_index": 464, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the table on the right of the wooden base."}
+{"subtask_index": 465, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block and transports it above the purple rod on the wooden rack."}
+{"subtask_index": 466, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand aligns the white cylindrical block with the purple rod, inserts it onto the rod and releases the block."}
+{"subtask_index": 467, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cube placed on the table surface."}
+{"subtask_index": 468, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cube and adjusts fingers to form a stable grasp on it."}
+{"subtask_index": 469, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block off the table surface."}
+{"subtask_index": 470, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block towards the rightmost white cylinder on the wooden base."}
+{"subtask_index": 471, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white cylinder."}
+{"subtask_index": 472, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green block onto the top of the target white cylinder until it is supported."}
+{"subtask_index": 473, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block."}
+{"subtask_index": 474, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden base after releasing the green block."}
+{"subtask_index": 475, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: idle: Right hand remains empty at the right side of the table surface without contacting any target objects or producing obvious displacement."}
+{"subtask_index": 476, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty toward the lower-left, approaching the green hexagonal block positioned in front-left of the wooden block base."}
+{"subtask_index": 477, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand adjusts finger positions and closes digits around the front-left green hexagonal block to form a stable grasp."}
+{"subtask_index": 478, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand holds the green hexagonal block on the wooden base, moves upward to lift the block completely off the support surface."}
+{"subtask_index": 479, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand carries the lifted green hexagonal block, aligns its central hole with the purple vertical peg, and moves downward to fit the block onto the peg."}
+{"subtask_index": 480, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without observable movement or adjustment."}
+{"subtask_index": 481, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it vertically downward along the purple rod to place it onto the wooden base, opens fingers to release the block and separate from it."}
+{"subtask_index": 482, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward toward the nearest white hexagonal block on the dark table surface, approaching the target until fingers make initial contact with the block."}
+{"subtask_index": 483, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block, adjusting finger contact positions to form a stable grip on the block which remains supported by the table."}
+{"subtask_index": 484, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the table surface, transports it upward toward the wooden base area."}
+{"subtask_index": 485, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand holds the white hexagonal block, moves upward to align the block with the purple post on the green wooden base, and fits the block onto the post."}
+{"subtask_index": 486, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple post without any observable movement."}
+{"subtask_index": 487, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: press_release: Right hand presses the top surface of the left-front white hexagonal block on the purple rod of the wooden stand downward, fingers opening to release the block."}
+{"subtask_index": 488, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves downward with an empty hand toward the leftmost white hexagonal block resting on the dark table surface."}
+{"subtask_index": 489, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block on the table, adjusting finger positions to form a grasp."}
+{"subtask_index": 490, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white block with purple rod off the black table surface and moves it upward to position directly above the target purple peg on the wooden assembly base."}
+{"subtask_index": 491, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the white block with purple rod with the target purple peg and lowers it to fit onto the peg, establishing the initial assembly connection."}
+{"subtask_index": 492, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: press: Right hand applies repeated downward pressure on the assembled white block with purple rod, making slight finger adjustments to press the block fully onto the green base below the peg."}
+{"subtask_index": 493, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the white hexagonal block and fits it onto the purple rod mounted on the wooden base, making slight wrist adjustments to seat the block properly."}
+{"subtask_index": 494, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward from the wooden assembly base toward the small white hexagonal block resting on the black table surface."}
+{"subtask_index": 495, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, making subtle finger and wrist adjustments to establish a grasp on the block."}
+{"subtask_index": 496, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position it directly above the empty purple peg on the wooden pegboard."}
+{"subtask_index": 497, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple peg and lowers the block to fit it securely onto the peg."}
+{"subtask_index": 498, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement of the hand or block."}
+{"subtask_index": 499, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place: Right hand holds the white hexagonal block, moves it downward along the purple rod, and places it onto the wooden base of the assembly stand until the block is fully supported by the base."}
+{"subtask_index": 500, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens its fingers to release the placed white hexagonal block on the purple rod, fully separating from the block."}
+{"subtask_index": 501, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves downward and slightly rightward from the assembly stand area toward the green hexagonal block on the dark work surface, approaching the target without making contact."}
+{"subtask_index": 502, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand makes contact with the target green hexagonal block on the work surface, fingers close and make slight positional adjustments to form a stable grasp around the block."}
+{"subtask_index": 503, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward, moving the block completely away from the dark work surface."}
+{"subtask_index": 504, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport_mate: Right hand moves the grasped green hexagonal block to the position directly above the purple post on the wooden assembly base, aligns the block with the post and seats it onto the post."}
+{"subtask_index": 505, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple post without any observable movement of the hand or block."}
+{"subtask_index": 506, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate_release: Right hand holds the green hexagonal block, aligns and fits it onto the corresponding vertical peg on the wooden base, releasing the block as it settles on the peg."}
+{"subtask_index": 507, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned to the left of the loose green block on the table surface."}
+{"subtask_index": 508, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger contact positions to establish a stable grip."}
+{"subtask_index": 509, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table surface and moves it upward and toward the wooden block assembly holding stacked colored blocks and rods."}
+{"subtask_index": 510, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand positions the white hollow cylinder directly over the target purple rod on the wooden assembly, makes small positional and rotational adjustments, and nests the cylinder onto the rod while maintaining a grip on the cylinder."}
+{"subtask_index": 511, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place: Right hand holds the white hexagonal block and moves it downward to place it onto the green block in the stacked structure, until the block is stably supported by the green block below."}
+{"subtask_index": 512, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens fingers to release the placed white hexagonal block, completing separation from the block."}
+{"subtask_index": 513, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward and rightward toward the small white hexagonal block on the table beside the wooden base, approaching the target block."}
+{"subtask_index": 514, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting finger positions to establish a secure grasp on the block."}
+{"subtask_index": 515, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand holds the small white part and lifts it upward off the dark table surface."}
+{"subtask_index": 516, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport: Right hand carries the small white part upward to position it directly above the purple rod on the wooden block tray."}
+{"subtask_index": 517, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the small white part with the purple rod and moves it downward to fit the part onto the rod."}
+{"subtask_index": 518, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens fingers to release the white cylindrical piece on the purple rod, separating from the piece."}
+{"subtask_index": 519, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut on the black table surface, approaching the nut."}
+{"subtask_index": 520, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal nut resting on the table, lifting the nut slightly upward off the table surface."}
+{"subtask_index": 521, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand lifts the gripped white hexagonal block upward off the black work surface."}
+{"subtask_index": 522, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport: Right hand transports the gripped white hexagonal block upward and rightward to the position directly above the purple rod on the wooden block rack."}
+{"subtask_index": 523, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, and lowers the block to fit onto the rod and mate with the stacked blocks below."}
+{"subtask_index": 524, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without obvious movement."}
+{"subtask_index": 525, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand adjusts the white cylindrical piece, aligning it with the purple rod on the wooden base and seating it fully into the nested assembly."}
+{"subtask_index": 526, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: reach: Right hand moves diagonally downward and rightward toward the green square block on the dark table surface, with fingers held slightly spread."}
+{"subtask_index": 527, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: grasp: Right hand positions fingers around the green square block on the table, making small contact adjustments and closing fingers to establish a grip on the block."}
+{"subtask_index": 528, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: hold: Right hand holds the green hexagonal block on the black table surface without moving."}
+{"subtask_index": 529, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: lift: Right hand moves upward to lift the green hexagonal block off the black table surface."}
+{"subtask_index": 530, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: transport: Right hand transports the grasped green hexagonal block upward and leftward to the position directly above the rightmost white bottle on the wooden tray."}
+{"subtask_index": 531, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the top of the rightmost white bottle, lowering the block to fit onto the bottle neck."}
+{"subtask_index": 532, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: place: Right hand lowers the green hexagonal block further down along the white bottle until the block rests stably on the bottle, supported by the bottle."}
+{"subtask_index": 533, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table surface without contacting any objects or producing obvious displacement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block resting on the white bottle."}
+{"subtask_index": 534, "subtask": "Left hand: return_home: Left hand moves from the lower left position to the left home position above the table, with slight posture adjustment during movement. | Right hand: reach: Right hand moves from the right side of the table toward the target object near the front of the wooden rack, approaching the object without contact."}
+{"subtask_index": 535, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves from the right side of the table toward the target object near the front of the wooden rack, approaching the object without contact."}
+{"subtask_index": 536, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand closes its fingers around the target object, with slight finger and wrist adjustments to stabilize the grip."}
+{"subtask_index": 537, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand aligns the held target object with the front peg of the wooden rack, fits the object onto the peg, and releases the object."}
+{"subtask_index": 538, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: retreat: Right hand moves upward away from the wooden rack, keeping empty during the movement."}
+{"subtask_index": 539, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the green cube from the wooden base plate and transports it to the position above the leftmost purple peg."}
+{"subtask_index": 540, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the green cube onto the leftmost purple peg by lowering it down along the peg."}
+{"subtask_index": 541, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white block on the upper purple peg, with fingers opening to separate from the block."}
+{"subtask_index": 542, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table, keeping fingers slightly open."}
+{"subtask_index": 543, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block."}
+{"subtask_index": 544, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}
+{"subtask_index": 545, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal object on the dark table, adjusting fingers to achieve a stable grip."}
+{"subtask_index": 546, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the table and moves it toward the wooden peg rack at the back of the frame."}
+{"subtask_index": 547, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal object with the leftmost purple peg of the wooden rack and fits it downward onto the peg."}
+{"subtask_index": 548, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand mates the white block onto the purple peg and releases its grip on the block."}
+{"subtask_index": 549, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table surface."}
+{"subtask_index": 550, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 551, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the left white hexagonal block upward away from the table surface."}
+{"subtask_index": 552, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white cubic block on the black table surface without moving."}
+{"subtask_index": 553, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and transports it toward the leftmost purple peg on the wooden base."}
+{"subtask_index": 554, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_place: Right hand aligns the white cubic block with the leftmost purple peg and lowers it onto the lower block on the peg until it is supported."}
+{"subtask_index": 555, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white cubic block on the leftmost purple peg without moving."}
+{"subtask_index": 556, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white cylindrical block on the top of the leftmost post of the wooden base, with fingers opening to separate from the block."}
+{"subtask_index": 557, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand reaches downward toward the white cylindrical block on the table in the middle upper area."}
+{"subtask_index": 558, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 559, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the white cylindrical block upward off the table surface."}
+{"subtask_index": 560, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white perforated hexagonal block from the table surface and transports it to the top of the rightmost purple peg on the pegboard."}
+{"subtask_index": 561, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white perforated hexagonal block onto the rightmost purple peg by lowering it down the peg."}
+{"subtask_index": 562, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white perforated hexagonal block on the rightmost purple peg without moving."}
+{"subtask_index": 563, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white ring onto the middle purple peg of the wooden base."}
+{"subtask_index": 564, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white ring from its grip."}
+{"subtask_index": 565, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}
+{"subtask_index": 566, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers closing around it."}
+{"subtask_index": 567, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface."}
+{"subtask_index": 568, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport_mate: Right hand carries the green hexagonal block to align with the middle peg on the wooden base and lowers it onto the peg."}
+{"subtask_index": 569, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the middle peg of the wooden base without moving."}
+{"subtask_index": 570, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand fits the white hollow block onto the purple vertical post and releases the block."}
+{"subtask_index": 571, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal hollow block on the table."}
+{"subtask_index": 572, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal hollow block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 573, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block off the table and transports it upwards and leftwards toward the wooden base with pegs."}
+{"subtask_index": 574, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white hollow cylindrical block with the green block on the wooden base by aligning the block's hole with the peg and inserting it downwards."}
+{"subtask_index": 575, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: release: Right hand releases the white hollow cylindrical block, with fingers opening and separating from the block."}
+{"subtask_index": 576, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}
+{"subtask_index": 577, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 578, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the small white cylinder from the table surface."}
+{"subtask_index": 579, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand transports the small white cylinder leftward and upward to the position above the purple rod."}
+{"subtask_index": 580, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the small white cylinder with the purple rod and fits it onto the purple rod."}
+{"subtask_index": 581, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the small white cylinder fitted on the purple rod without moving."}
+{"subtask_index": 582, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate_release: Right hand mates the white hollow block onto the purple rod on the wooden base and releases the block."}
+{"subtask_index": 583, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}
+{"subtask_index": 584, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}
+{"subtask_index": 585, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and leftward toward the wooden rack."}
+{"subtask_index": 586, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod on the wooden rack, lowering it to fit onto the rod."}
+{"subtask_index": 587, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the white cylindrical object on the purple rod of the wooden rack without moving."}
+{"subtask_index": 588, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: press: Right hand presses the purple rod down into the white cylinder on the wooden base."}
+{"subtask_index": 589, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: reach: Right hand moves downwards and leftwards towards the green cube on the table."}
+{"subtask_index": 590, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: grasp: Right hand grasps the green cube on the table with fingers closing and adjusting around the object."}
+{"subtask_index": 591, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: lift: Right hand lifts the green block upward until it completely leaves the table surface."}
+{"subtask_index": 592, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: transport: Right hand transports the green block toward the target white bottle on the wooden rack."}
+{"subtask_index": 593, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle and fits it down onto the bottle."}
+{"subtask_index": 594, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any observable movement. | Right hand: hold: Right hand holds the green block fitted on the white bottle without moving."}
+{"subtask_index": 595, "subtask": "Left hand: other:adjust_position: Left hand moves slightly upward to adjust its position. | Right hand: reach: Right hand moves toward the white cylindrical parts on the central wooden base."}
+{"subtask_index": 596, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical parts on the central wooden base."}
+{"subtask_index": 597, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: push: Right hand pushes the white parts on the wooden base, tilting the wooden base to the left."}
+{"subtask_index": 598, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the green square block in front of the tilted wooden base."}
+{"subtask_index": 599, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the table."}
+{"subtask_index": 600, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand opens fingers to release the grasped green square block."}
+{"subtask_index": 601, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it to the position above the purple post on the wooden base."}
+{"subtask_index": 602, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple post of the wooden base by inserting it downward."}
+{"subtask_index": 603, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the green block onto the purple rod on the wooden base and releases the grip on the block."}
+{"subtask_index": 604, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 605, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 606, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 607, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 608, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it."}
+{"subtask_index": 609, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}
+{"subtask_index": 610, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod fixed on the wooden base."}
+{"subtask_index": 611, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block on the black table surface."}
+{"subtask_index": 612, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the leftmost white hexagonal block on the black table surface."}
+{"subtask_index": 613, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the leftmost purple rod on the wooden rack."}
+{"subtask_index": 614, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}
+{"subtask_index": 615, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down along the purple rod to secure it in position."}
+{"subtask_index": 616, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple rod on the wooden base."}
+{"subtask_index": 617, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward to reach the white ring on the table in front of the wooden base."}
+{"subtask_index": 618, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white ring on the table in front of the wooden base."}
+{"subtask_index": 619, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 620, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod on the wooden base."}
+{"subtask_index": 621, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves down towards the green square block placed on the black tabletop."}
+{"subtask_index": 622, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand touches the green square block and adjusts fingers to form a stable grip."}
+{"subtask_index": 623, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green block off the black tabletop."}
+{"subtask_index": 624, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the green block to the area above the target post on the wooden rack."}
+{"subtask_index": 625, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green block with the target post and inserts it onto the post."}
+{"subtask_index": 626, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green block down along the post to secure it in place."}
+{"subtask_index": 627, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green block onto the post of the wooden base."}
+{"subtask_index": 628, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the table surface."}
+{"subtask_index": 629, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 630, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the wooden base with pegs."}
+{"subtask_index": 631, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the green peg on the wooden base."}
+{"subtask_index": 632, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white block placed on the top of the green block on the wooden base."}
+{"subtask_index": 633, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downwards towards the white block on the black tabletop next to the wooden base."}
+{"subtask_index": 634, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the black tabletop."}
+{"subtask_index": 635, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the grasped white block upwards from the black tabletop."}
+{"subtask_index": 636, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand carries the lifted white block towards the wooden base with stacked blocks."}
+{"subtask_index": 637, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the table surface."}
+{"subtask_index": 638, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden base."}
+{"subtask_index": 639, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting to fit it onto the rod properly."}
+{"subtask_index": 640, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white hexagonal block which is now fitted on the purple rod."}
+{"subtask_index": 641, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: retreat: Right hand retreats away from the wooden base after releasing the block."}
+{"subtask_index": 642, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the desktop."}
+{"subtask_index": 643, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal object on the desktop."}
+{"subtask_index": 644, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the black table surface."}
+{"subtask_index": 645, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block towards the purple rod on the wooden rack."}
+{"subtask_index": 646, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod, pressing it down to complete the assembly."}
+{"subtask_index": 647, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward from the position near the white bottle array toward the green block on the table."}
+{"subtask_index": 648, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand makes contact with the green block and adjusts fingers to form a stable grip."}
+{"subtask_index": 649, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green block on the table without any observable movement."}
+{"subtask_index": 650, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, adjusting fingers slightly to form a stable grip."}
+{"subtask_index": 651, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it above the target white bottle on the wooden tray."}
+{"subtask_index": 652, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the target white bottle for assembly."}
+{"subtask_index": 653, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green block down onto the white bottle to secure the assembly."}
+{"subtask_index": 654, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: idle: Right hand remains empty at the upper right initial position, away from the table objects, without noticeable movement."}
+{"subtask_index": 655, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward and leftward toward the green hexagonal nut positioned in front-left of the wooden block base."}
+{"subtask_index": 656, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers to contact the green hexagonal nut on the table, adjusting finger positions to establish a grip."}
+{"subtask_index": 657, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block upward off the table surface and moves it to the position directly above the leftmost purple peg on the wooden base."}
+{"subtask_index": 658, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand moves the green hexagonal block downward to align and fit it onto the leftmost purple peg on the wooden base."}
+{"subtask_index": 659, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any observable movement."}
+{"subtask_index": 660, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate_release: Right hand holds the green hexagonal block, aligns it with the purple peg on the wooden pegboard, moves the block downward to fit it onto the peg, and releases the block."}
+{"subtask_index": 661, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward from the wooden pegboard area toward the frontmost white hexagonal block on the dark table surface."}
+{"subtask_index": 662, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the frontmost white hexagonal block on the table to establish a grasp."}
+{"subtask_index": 663, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the work surface and moves it backward and upward to the position above the leftmost purple peg on the wooden assembly base."}
+{"subtask_index": 664, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the leftmost purple peg and makes small adjustments to guide the nut down the peg for assembly."}
+{"subtask_index": 665, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand positions the white hexagonal block onto the purple rod on the wooden base and releases the held block."}
+{"subtask_index": 666, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the black table surface."}
+{"subtask_index": 667, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making slight adjustments to establish a stable grip."}
+{"subtask_index": 668, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely away from the black table surface."}
+{"subtask_index": 669, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block through the air toward the purple peg on the wooden assembly base."}
+{"subtask_index": 670, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg and lowers the block to fit onto the peg."}
+{"subtask_index": 671, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves downward to seat it on the purple rod of the wooden assembly base, and opens fingers to release the block."}
+{"subtask_index": 672, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface in front of the wooden base."}
+{"subtask_index": 673, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to establish a stable grip."}
+{"subtask_index": 674, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block completely off the dark table surface."}
+{"subtask_index": 675, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand adjusts its grip on the white hexagonal cylinder placed on the table near the wooden base, fingers tightening to stabilize the grasp."}
+{"subtask_index": 676, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder off the table surface and moves it upward to position it directly above the purple rod on the wooden base."}
+{"subtask_index": 677, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple rod on the wooden base and lowers it to fit onto the rod, completing the assembly."}
+{"subtask_index": 678, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal cylinder fitted on the purple rod without moving, maintaining a stable grip."}
+{"subtask_index": 679, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand holds the white hexagonal nut, moves it downward to place it onto the purple rod on the wooden base, fingers open to release the nut."}
+{"subtask_index": 680, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block resting on the dark table surface."}
+{"subtask_index": 681, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand contacts the green hexagonal block, fingers gradually close and adjust contact position to establish a grasp on the block."}
+{"subtask_index": 682, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark table surface, moving it upward and backward to a position directly above the purple rod on the wooden assembly base."}
+{"subtask_index": 683, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, makes slight positional adjustments, and moves the block downward to fit it onto the rod."}
+{"subtask_index": 684, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place: Right hand holds the green hexagonal block and moves it downward to place it onto the stacked blocks on the wooden base until the block is supported."}
+{"subtask_index": 685, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: release: Right hand opens fingers to release the green hexagonal block, separating from the block."}
+{"subtask_index": 686, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block near the green block on the table."}
+{"subtask_index": 687, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting finger positions to establish a grip."}
+{"subtask_index": 688, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal prism upward until it fully separates from the table surface."}
+{"subtask_index": 689, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand moves the lifted white hexagonal prism toward the wooden block assembly, positioning it directly above the purple vertical rod."}
+{"subtask_index": 690, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal prism with the purple vertical rod, lowering the prism to fit onto the rod."}
+{"subtask_index": 691, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the white hexagonal prism fitted on the purple rod of the wooden assembly without any observable movement."}
+{"subtask_index": 692, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it on the corresponding peg of the wooden assembly base, releasing the block as it is supported by the peg."}
+{"subtask_index": 693, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty from above the wooden assembly base toward the small white hexagonal block on the table adjacent to the base."}
+{"subtask_index": 694, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal block on the table, making minor finger adjustments to establish a secure grasp on the block."}
+{"subtask_index": 695, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand holds the small white cylindrical block and lifts it upward off the dark table surface."}
+{"subtask_index": 696, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the small white cylindrical block upward and leftward to the position directly above the purple rod on the light wooden base."}
+{"subtask_index": 697, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the small white cylindrical block stationary directly above the purple rod on the wooden base."}
+{"subtask_index": 698, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate_release: Right hand lowers the small white cylindrical block downward to fit it onto the purple rod, fingers opening to release the block onto the supporting wooden base."}
+{"subtask_index": 699, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand places the purple cylindrical post into the corresponding hole on the wooden block base, opens fingers to release the stably seated post."}
+{"subtask_index": 700, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves downward toward the small white hexagonal block resting on the dark table surface."}
+{"subtask_index": 701, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the small white hexagonal block on the table, adjusting contact points to form a stable grip."}
+{"subtask_index": 702, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the small white hexagonal block on the table surface with no observable movement of the hand or block."}
+{"subtask_index": 703, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand lifts the grasped small white cylindrical block upward until the block is completely separated from the table surface."}
+{"subtask_index": 704, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted small white cylindrical block upward and toward the empty hole on the wooden block rack."}
+{"subtask_index": 705, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the small white cylindrical block with the empty hole on the wooden rack and inserts the block into the hole."}
+{"subtask_index": 706, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: hold: Right hand holds the inserted small white cylindrical block in the rack hole without moving."}
+{"subtask_index": 707, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: release: Right hand opens fingers to release the small white cylindrical block settled in the rack hole."}
+{"subtask_index": 708, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty along an arcing path downward and rightward to approach the green square block on the dark gray work surface."}
+{"subtask_index": 709, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green square block to establish a secure grasp."}
+{"subtask_index": 710, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand grips the green block on the black table surface and lifts it upward, raising the block completely off the table."}
+{"subtask_index": 711, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted green block upward and toward the top right area of the wooden block rack, moving the block above the rightmost white cylinder."}
+{"subtask_index": 712, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand holds the green block above the rightmost white cylinder, adjusts the block's position to align with the cylinder, and attempts to fit the block onto the cylinder before the block slips and falls to the table."}
+{"subtask_index": 713, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty downward from the rack area toward the green block that fell onto the right side of the table, approaching the block."}
+{"subtask_index": 714, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand closes fingers around the fallen green block on the table, establishing a stable grip on the block."}
+{"subtask_index": 715, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the grasped green block upward and leftward toward the front of the wooden rack, moving the block to a position just above the table surface in front of the rack."}
+{"subtask_index": 716, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: place_release: Right hand lowers the green block onto the table surface in front of the rack, then opens fingers to release the block, separating the hand from the block."}
+{"subtask_index": 717, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reach: Right hand moves empty a short distance toward the green block placed on the table in front of the rack, approaching to grasp the block again."}
+{"subtask_index": 718, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: reorient: Right hand holds the green block just above the table in front of the rack, rotates the wrist repeatedly to adjust the block's orientation by small angles, making fine adjustments to align the block's central hole."}
+{"subtask_index": 719, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: release: Right hand opens fingers to release the green block, allowing the block to rest on the table surface as the hand separates from the block."}
+{"subtask_index": 720, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: idle: Right hand remains empty next to the green block on the table, staying stationary without contacting any objects."}
+{"subtask_index": 721, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: grasp: Right hand moves slightly toward the green block, closes fingers around the block to establish a secure grip, adjusting finger contact points to stabilize the hold."}
+{"subtask_index": 722, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: lift: Right hand grips the green block and lifts it upward, raising the block completely off the table surface."}
+{"subtask_index": 723, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: transport: Right hand carries the lifted green block upward, moving the block to a position directly above the rightmost white cylinder on the wooden rack."}
+{"subtask_index": 724, "subtask": "Left hand: idle: Left hand remains empty at the upper left of the workspace, away from the table objects, without noticeable movement. | Right hand: mate: Right hand aligns the green block's central hole with the top of the rightmost white cylinder, lowers the block to fit it onto the cylinder, adjusting position until the block sits stably on the cylinder."}
+{"subtask_index": 725, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: idle: Right hand remains empty at the right side of the workspace without contacting any objects, staying stationary."}
+{"subtask_index": 726, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves toward the green hexagonal block positioned at the front-left of the wooden peg base, approaching the target block with an empty hand."}
+{"subtask_index": 727, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table, making small adjustments to finger and wrist positions to establish a stable grip on the block."}
+{"subtask_index": 728, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the gripped green hexagonal block vertically upward off the table surface and moves the block to the position directly above the leftmost purple peg on the wooden assembly base."}
+{"subtask_index": 729, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost purple peg and moves the block downward along the peg to fit onto the wooden assembly base."}
+{"subtask_index": 730, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the left purple rod of the wooden base, and releases the block after it rests stably on the wooden base."}
+{"subtask_index": 731, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the front white hexagonal block on the black table surface, approaching the block without contact."}
+{"subtask_index": 732, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand makes contact with the target front white hexagonal block, fingers close and make small adjustments to form a stable grip on the block, which remains resting on the table surface."}
+{"subtask_index": 733, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand holds the white hexagonal block, lifts it off the black table surface, and moves it upward to the position directly above the purple peg on the small wooden base."}
+{"subtask_index": 734, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand makes slight positional adjustments to align the held white hexagonal block with the purple peg, and moves the block downward to fit it onto the peg."}
+{"subtask_index": 735, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate_release: Right hand holds a white hexagonal nut, aligns it with the leftmost purple peg on the wooden assembly base, fits the nut securely onto the peg, and releases the nut with opened fingers."}
+{"subtask_index": 736, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward with open fingers toward the loose white hexagonal nut resting on the dark work surface."}
+{"subtask_index": 737, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes its fingers around the loose white hexagonal nut on the dark work surface, making small adjustments of the fingers and wrist to establish a stable grip on the nut."}
+{"subtask_index": 738, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical object off the black table surface and moves it upward toward the wooden block rack."}
+{"subtask_index": 739, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the hole of the white cylindrical object with the purple rod on the wooden rack, and moves the object downward to fit it onto the rod."}
+{"subtask_index": 740, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white cylindrical object that is fitted onto the purple rod of the wooden rack without any observable movement."}
+{"subtask_index": 741, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the white hexagonal nut placed on the purple peg of the wooden assembly board."}
+{"subtask_index": 742, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward from the wooden assembly board area toward the front white hexagonal nut resting on the black table surface."}
+{"subtask_index": 743, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the front white hexagonal nut, making small adjustments to finger positions to form a secure grip."}
+{"subtask_index": 744, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand lifts the grasped white cylindrical object vertically upward until the object is completely separated from the table surface."}
+{"subtask_index": 745, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted white cylindrical object horizontally to position it directly above the purple vertical peg on the wooden base."}
+{"subtask_index": 746, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the hollow bottom of the white cylindrical object with the purple peg, making small positional adjustments while lowering the object to fit it onto the peg."}
+{"subtask_index": 747, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: press_release: Right hand presses the white cylindrical block downward along the purple peg on the wooden base to seat it fully, and releases the block."}
+{"subtask_index": 748, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the left area of the table."}
+{"subtask_index": 749, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making small adjustments to finger positions to establish a secure grip."}
+{"subtask_index": 750, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand holds the green hexagonal block with a central hole and lifts it upward from the black table surface until the block fully separates from the table."}
+{"subtask_index": 751, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the purple rod on the wooden base, moving the block to a position directly above the target rod."}
+{"subtask_index": 752, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple rod, making slight positional adjustments while lowering the block to fit onto the rod."}
+{"subtask_index": 753, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens fingers to release the green block positioned on the wooden assembly base."}
+{"subtask_index": 754, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves downward toward the white hexagonal block resting on the dark table surface."}
+{"subtask_index": 755, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand adjusts finger positions to close around the white hexagonal block on the table to establish a stable grasp."}
+{"subtask_index": 756, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand holds the white cylindrical block and lifts it upward off the black table surface."}
+{"subtask_index": 757, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted white cylindrical block upward and forward toward the wooden assembly base."}
+{"subtask_index": 758, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod on the base and lowers the block to fit onto the rod."}
+{"subtask_index": 759, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple vertical rod without any observable movement."}
+{"subtask_index": 760, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand releases the white cylindrical block on top of the stacked block assembly, with fingers opening to separate from the block."}
+{"subtask_index": 761, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty toward the white hollow hexagonal block adjacent to the wooden base on the table surface."}
+{"subtask_index": 762, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand closes fingers around the target white hollow hexagonal block to form a stable grasp."}
+{"subtask_index": 763, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand holds the white hollow cylinder resting on the black table surface, and lifts the cylinder upward until it is fully separated from the table."}
+{"subtask_index": 764, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand carries the lifted white hollow cylinder, moving it upward and toward the purple rod on the wooden block base."}
+{"subtask_index": 765, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple rod, and moves the cylinder downward to fit onto the rod until it rests on the stacked block below."}
+{"subtask_index": 766, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the purple rod without any observable movement of the hand or the cylinder."}
+{"subtask_index": 767, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the white hollow cylinder on the purple rod, separating the hand from the cylinder surface."}
+{"subtask_index": 768, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: place_release: Right hand sets the white cylindrical block onto the wooden base along the purple rod, fingers opening to separate from the supported block."}
+{"subtask_index": 769, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty in a downward-right direction across the dark table surface toward the small white hexagonal block."}
+{"subtask_index": 770, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand contacts the small white hexagonal block on the table, closing fingers and adjusting contact points to establish a grip on the block."}
+{"subtask_index": 771, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift: Right hand lifts the white block it is holding upward until the block is fully separated from the dark table surface."}
+{"subtask_index": 772, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: transport: Right hand transports the grasped white block upward and leftward to position it directly above the purple rod on the wooden block base."}
+{"subtask_index": 773, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand aligns the central hole of the held white block with the purple rod on the wooden base, moves the block downward to fit it onto the rod until it rests on the lower white block."}
+{"subtask_index": 774, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: release: Right hand opens its fingers to release the white block, separating from the block fitted on the purple rod of the wooden base."}
+{"subtask_index": 775, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: reach: Right hand moves empty diagonally downward toward the green square block on the dark gray table surface, approaching the block without making contact."}
+{"subtask_index": 776, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: grasp: Right hand positions fingers around the green square block, closing fingers and making small adjustments to contact points to form a grip on the block."}
+{"subtask_index": 777, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: lift_transport: Right hand lifts the green block completely off the dark work surface and moves it upward toward the empty slot on the wooden block holder."}
+{"subtask_index": 778, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align it with the empty slot on the wooden block holder."}
+{"subtask_index": 779, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: place: Right hand lowers the aligned green block into the empty slot until the block is fully supported by the wooden holder."}
+{"subtask_index": 780, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without contacting any objects, staying stationary throughout the segment. | Right hand: hold: Right hand holds the green block positioned in the wooden holder slot without visible movement of the hand or block."}
+{"subtask_index": 781, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the purple rod of the central wooden rack."}
+{"subtask_index": 782, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers and adjusts to grasp the white hexagonal block on the purple rod."}
+{"subtask_index": 783, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block away from the purple rod and carries it moving upwards."}
+{"subtask_index": 784, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the wooden base with purple pegs on the black table."}
+{"subtask_index": 785, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the wooden base with purple pegs off the black table surface."}
+{"subtask_index": 786, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the wooden base upward to the position above the aligned white hollow blocks."}
+{"subtask_index": 787, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the wooden base by inserting the purple pegs into the corresponding white hollow blocks."}
+{"subtask_index": 788, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green block onto the purple rod on the wooden base and releases the block."}
+{"subtask_index": 789, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the white hexagonal block on the black tabletop."}
+{"subtask_index": 790, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it above the purple post on the wooden base."}
+{"subtask_index": 791, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple post on the wooden base."}
+{"subtask_index": 792, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden base."}
+{"subtask_index": 793, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the leftmost white hexagonal block placed on the black tabletop."}
+{"subtask_index": 794, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the black tabletop, adjusting fingers to form a stable grip."}
+{"subtask_index": 795, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hexagonal block from the black table surface."}
+{"subtask_index": 796, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rod on the wooden rack."}
+{"subtask_index": 797, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target purple rod on the wooden rack."}
+{"subtask_index": 798, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the leftmost purple rod on the wooden base."}
+{"subtask_index": 799, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 800, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop with fingers adjusting to form a stable grip."}
+{"subtask_index": 801, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and moves it towards the purple peg on the wooden base."}
+{"subtask_index": 802, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and presses it down onto the peg."}
+{"subtask_index": 803, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block."}
+{"subtask_index": 804, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly upward away from the assembled block and peg."}
+{"subtask_index": 805, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod fixed on the wooden base."}
+{"subtask_index": 806, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green cubic block on the table surface."}
+{"subtask_index": 807, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the green cubic block on the table to adjust and establish stable grip."}
+{"subtask_index": 808, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upwards away from the table surface."}
+{"subtask_index": 809, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the target peg on the wooden base."}
+{"subtask_index": 810, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the top of the target peg."}
+{"subtask_index": 811, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the peg to assemble it in position."}
+{"subtask_index": 812, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the vertical peg on the wooden base."}
+{"subtask_index": 813, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base assembly area."}
+{"subtask_index": 814, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black table surface."}
+{"subtask_index": 815, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block, adjusting fingers to form a stable grip."}
+{"subtask_index": 816, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it above the purple post on the wooden base."}
+{"subtask_index": 817, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple post on the wooden base for assembly."}
+{"subtask_index": 818, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple post until it fits onto the green block below."}
+{"subtask_index": 819, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases its grip on the white cylindrical block, fingers opening gradually."}
+{"subtask_index": 820, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical object on the table next to the wooden block rack."}
+{"subtask_index": 821, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white cylindrical object on the table and adjusts fingers to form a stable grasp."}
+{"subtask_index": 822, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it above the empty slot of the wooden rack."}
+{"subtask_index": 823, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object into the empty slot on the right side of the wooden rack."}
+{"subtask_index": 824, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden block rack towards the lower right direction."}
+{"subtask_index": 825, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white block on the black table surface."}
+{"subtask_index": 826, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white block on the table, with fingers adjusting to form a stable grasp."}
+{"subtask_index": 827, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it towards the empty slot on the front right of the wooden rack."}
+{"subtask_index": 828, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block into the empty slot on the front right of the wooden rack."}
+{"subtask_index": 829, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object with purple rod placed on the wooden tray."}
+{"subtask_index": 830, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the dark table surface."}
+{"subtask_index": 831, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip."}
+{"subtask_index": 832, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without any observable movement."}
+{"subtask_index": 833, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block placed on the dark table surface."}
+{"subtask_index": 834, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it towards the target white bottle on the wooden tray."}
+{"subtask_index": 835, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the top of the white bottle and presses it down to complete the assembly."}
+{"subtask_index": 836, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block which is now properly fitted onto the white bottle."}
+{"subtask_index": 837, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: idle: Right hand remains empty at the right side of the workspace without moving."}
+{"subtask_index": 838, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves down and left toward the green hexagonal block on the table adjacent to the wooden pegboard, with fingers held open."}
+{"subtask_index": 839, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table, making small adjustments to finger positions and wrist angle to form a stable grip."}
+{"subtask_index": 840, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block steadily on the table surface without moving."}
+{"subtask_index": 841, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it upward off the black table surface, and moves it directly above the purple peg on the light wooden base."}
+{"subtask_index": 842, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the green block with the purple peg, lowers it to fit onto the peg, and makes slight finger adjustments to seat the block properly."}
+{"subtask_index": 843, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green block stably seated on the purple peg without any visible movement of the hand or block."}
+{"subtask_index": 844, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand lowers the green hexagonal block along the purple peg until it rests on the wooden board, fingers opening to separate from the block."}
+{"subtask_index": 845, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward with an empty hand toward the white hexagonal block placed on the table surface in front of the wooden board."}
+{"subtask_index": 846, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting finger positions and closing fingers to form a grip on the block."}
+{"subtask_index": 847, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and transports it upward to the position above the purple peg on the light wooden base."}
+{"subtask_index": 848, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg and lowers the nut to fit onto the peg, resting on the green block beneath."}
+{"subtask_index": 849, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple peg without moving, with the nut supported by the green block below."}
+{"subtask_index": 850, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers gradually to release the white hexagonal nut, separating from the nut surface by the end of the segment."}
+{"subtask_index": 851, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal block mounted on the left purple peg of the wooden base without moving."}
+{"subtask_index": 852, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens fingers to release the previously held white hexagonal block on the purple peg."}
+{"subtask_index": 853, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward and forward toward the white hexagonal block resting on the dark table in the front-middle area."}
+{"subtask_index": 854, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts fingers around the front-middle white hexagonal block, closing fingers to establish a grip on the block."}
+{"subtask_index": 855, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until it is completely separated from the dark table surface."}
+{"subtask_index": 856, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the grasped white hexagonal nut toward the purple rod on the wooden assembly base."}
+{"subtask_index": 857, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand adjusts the position and orientation of the white hexagonal nut to align its central hole with the purple rod on the wooden base, moves the nut downward to fit it onto the rod until it rests on the lower green-white assembly."}
+{"subtask_index": 858, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal nut on the purple rod."}
+{"subtask_index": 859, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns it with the purple peg on the wooden base, nests the block onto the peg and opens fingers to release the assembled block."}
+{"subtask_index": 860, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward from the upper assembly area toward the white hexagonal block near the front edge of the wooden base."}
+{"subtask_index": 861, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the target white hexagonal block on the table, closes fingers and adjusts contact points to form a grasp on the block."}
+{"subtask_index": 862, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward off the supporting surface near the wooden base."}
+{"subtask_index": 863, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the white hexagonal block upward to position it above the purple post on the wooden base."}
+{"subtask_index": 864, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post, fits the block onto the post, and makes slight positional adjustments during the assembly process."}
+{"subtask_index": 865, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand holds the white block, lowers it onto the wooden assembly base until the block is supported, and opens fingers to release the block."}
+{"subtask_index": 866, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward with empty hand toward the green block placed on the black table surface."}
+{"subtask_index": 867, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the green block on the table to form a grasp."}
+{"subtask_index": 868, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the table surface and moves it upward to a position above the purple vertical rod on the wooden assembly base."}
+{"subtask_index": 869, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central opening of the green hexagonal block with the purple rod and lowers the block to engage it with the rod."}
+{"subtask_index": 870, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the green hexagonal block positioned on the purple rod without any visible movement."}
+{"subtask_index": 871, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens fingers around the green cylindrical block on the purple rod of the wooden block assembly, releasing grip on the block."}
+{"subtask_index": 872, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downwards from the wooden block assembly toward the white hexagonal nut resting on the dark table surface, approaching the target."}
+{"subtask_index": 873, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers around the target white hexagonal nut on the dark table surface to form a grip on the object."}
+{"subtask_index": 874, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward until the nut is fully lifted off the black table surface."}
+{"subtask_index": 875, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand carries the white hexagonal nut through the air toward the purple rod mounted on the wooden block base."}
+{"subtask_index": 876, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and lowers the nut to fit it onto the rod."}
+{"subtask_index": 877, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release: Right hand opens its fingers to release the assembled white hexagonal block, fully separating the hand from the block."}
+{"subtask_index": 878, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty downward and to the right, approaching the white hexagonal block placed adjacent to the wooden base."}
+{"subtask_index": 879, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers around the target white hexagonal block on the table, adjusting contact points to form a stable grip while the block rests on the table surface."}
+{"subtask_index": 880, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting the block completely off the table surface by the end of the segment."}
+{"subtask_index": 881, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport_place: Right hand holds the white cylindrical block with a green base, moves it upward and leftward from the right area above the dark table surface to the empty peg of the light wooden block rack, lowers the block to seat it firmly on the peg."}
+{"subtask_index": 882, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the seated white cylindrical block with a green base on the wooden rack peg without any observable movement of the hand, fingers or the block."}
+{"subtask_index": 883, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand moves the grasped white cylindrical block downward along the purple rod to rest on the wooden tray, opening fingers to release contact with the block."}
+{"subtask_index": 884, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves diagonally down and right toward the white hexagonal block on the dark table surface, staying empty throughout the movement."}
+{"subtask_index": 885, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the dark table surface, closing fingers and making slight adjustments to establish a grip on the block."}
+{"subtask_index": 886, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block completely off the dark table surface, then moves it upward and leftward toward the empty position on the wooden block tray."}
+{"subtask_index": 887, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the held white cylindrical block with the empty slot on the wooden tray, and lowers it to fit into place with the adjacent stacked blocks."}
+{"subtask_index": 888, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white cylindrical block steady in its assembled position on the wooden tray without any observable movement."}
+{"subtask_index": 889, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves empty diagonally downward toward the green cube resting on the black table surface."}
+{"subtask_index": 890, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the green cube, closes fingers and makes slight positional adjustments to establish a grip on the cube."}
+{"subtask_index": 891, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block is fully separated from the dark table surface."}
+{"subtask_index": 892, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand moves the lifted green block upward and leftward to the position directly above the purple cylindrical post on the white and green block tray."}
+{"subtask_index": 893, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand makes fine adjustments to the position and orientation of the green block to align its central hole with the purple post, gradually lowering the block to fit onto the post."}
+{"subtask_index": 894, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place_release: Right hand lowers the green block fully onto the supporting white block on the purple post, then opens its fingers to release contact with the green block."}
+{"subtask_index": 895, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: retreat: Right hand moves empty in an upward-right direction away from the assembled green block on the tray."}
+{"subtask_index": 896, "subtask": "Left hand: other:raise_hand: Left hand moves upward with empty hand from the lower left area of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block near the wooden board, with empty hand."}
+{"subtask_index": 897, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block near the wooden board, with empty hand."}
+{"subtask_index": 898, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing to form a stable grip."}
+{"subtask_index": 899, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}
+{"subtask_index": 900, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the wooden board, with fingers adjusting to form a stable grip."}
+{"subtask_index": 901, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and transports it upward and rightward to the position above the target purple peg on the wooden board."}
+{"subtask_index": 902, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand moves the green hexagonal block downward and aligns it with the target purple peg, fitting the block onto the peg."}
+{"subtask_index": 903, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg of the wooden board without moving."}
+{"subtask_index": 904, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: place_release: Right hand places the green block onto the base of the left purple peg and releases the block."}
+{"subtask_index": 905, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward to approach the white hexagonal block on the middle-left area of the black table."}
+{"subtask_index": 906, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the middle-left of the black table, with fingers closing and adjusting to stabilize the grip."}
+{"subtask_index": 907, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the black table surface."}
+{"subtask_index": 908, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the black table surface and moves it toward the purple peg on the green base."}
+{"subtask_index": 909, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white hexagonal object onto the purple peg and releases its grip."}
+{"subtask_index": 910, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: idle: Right hand remains empty above the assembly board without moving."}
+{"subtask_index": 911, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the green block on a peg of the wooden base and releases the block."}
+{"subtask_index": 912, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the left side of the black table surface."}
+{"subtask_index": 913, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left side of the black table surface, with fingers closing around the block to form a grip."}
+{"subtask_index": 914, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal part on the black table surface without moving."}
+{"subtask_index": 915, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the table surface and transports it to the position above the front-left purple peg on the green base."}
+{"subtask_index": 916, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand aligns and fits the white hexagonal part onto the front-left purple peg of the green base, and releases the part with opening fingers."}
+{"subtask_index": 917, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple peg of the wooden base."}
+{"subtask_index": 918, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward to reach the white hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 919, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden base with fingers closing around it."}
+{"subtask_index": 920, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}
+{"subtask_index": 921, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the rightmost purple rod on the wooden base."}
+{"subtask_index": 922, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the rightmost purple rod by aligning the block hole with the rod and lowering the block down."}
+{"subtask_index": 923, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the rightmost purple rod without moving."}
+{"subtask_index": 924, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white block on top of the purple rod of the wooden base, with fingers opening and moving upward away from the rod."}
+{"subtask_index": 925, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block on the left side of the table."}
+{"subtask_index": 926, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the left side of the table, with fingers closing and adjusting to stabilize the grip."}
+{"subtask_index": 927, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it toward the rightmost purple peg on the wooden base."}
+{"subtask_index": 928, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost purple peg and fits it onto the peg."}
+{"subtask_index": 929, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green hexagonal block on the rightmost purple peg without moving."}
+{"subtask_index": 930, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: place: Right hand places the white hexagonal block onto the green block on the wooden base."}
+{"subtask_index": 931, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white hexagonal block on the wooden base."}
+{"subtask_index": 932, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 933, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing and adjusting."}
+{"subtask_index": 934, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the green support block on the table and transports it upward and leftward to the position above the top peg of the wooden base block set."}
+{"subtask_index": 935, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand moves the white cylindrical block downward to mate it onto the top peg of the wooden base block set."}
+{"subtask_index": 936, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white cylindrical block on the top peg of the wooden base block set without moving."}
+{"subtask_index": 937, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white ring on the purple rod of the wooden base, with fingers opening and moving upward away from the ring."}
+{"subtask_index": 938, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves down and right toward the upper white hexagonal part on the black table surface, with fingers slightly open."}
+{"subtask_index": 939, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the upper white hexagonal part on the black table surface, with fingers closing around the part."}
+{"subtask_index": 940, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal part upward away from the table surface."}
+{"subtask_index": 941, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the white hexagonal part leftward and upward to the position above the purple rod on the wooden base."}
+{"subtask_index": 942, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal part with the purple rod and fits the part down onto the rod to complete the assembly."}
+{"subtask_index": 943, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple peg on the wooden board before releasing it."}
+{"subtask_index": 944, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 945, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 946, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and transports it toward the wooden tray with stacked blocks."}
+{"subtask_index": 947, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the white cubic block with the purple vertical rod on the wooden tray and fits it onto the rod."}
+{"subtask_index": 948, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the purple rod on the top of the rightmost white cylinder on the wooden board, with fingers opening and separating from the rod."}
+{"subtask_index": 949, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves down and right towards the green cube on the dark table surface, with fingers slightly open."}
+{"subtask_index": 950, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers adjusting their position to form a stable grip."}
+{"subtask_index": 951, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the green block upward from the dark table surface."}
+{"subtask_index": 952, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the green block leftward and upward toward the purple peg on the white cylinder set on the wooden base."}
+{"subtask_index": 953, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the green block onto the purple peg, lowering it to fit the block's hole over the peg until the block rests on the white cylinder below."}
+{"subtask_index": 954, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green block on top of the white cylinder over the purple peg without moving."}
+{"subtask_index": 955, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the green hexagonal block near the wooden base."}
+{"subtask_index": 956, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green hexagonal block on the table near the wooden base."}
+{"subtask_index": 957, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it to the position above the purple peg on the wooden base."}
+{"subtask_index": 958, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it onto the peg."}
+{"subtask_index": 959, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg to fully seat it on the base."}
+{"subtask_index": 960, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block onto the purple rod on the wooden base."}
+{"subtask_index": 961, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white block placed on the black tabletop."}
+{"subtask_index": 962, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the black tabletop, adjusting grip to stabilize the block."}
+{"subtask_index": 963, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white block upward away from the black tabletop."}
+{"subtask_index": 964, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the target purple rod on the wooden base."}
+{"subtask_index": 965, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the purple rod and releases the block."}
+{"subtask_index": 966, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block placed on the black table surface."}
+{"subtask_index": 967, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to form a stable grip."}
+{"subtask_index": 968, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod and adjusts its position to fit properly."}
+{"subtask_index": 969, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the pegboard area toward the white hexagonal block on the black tabletop."}
+{"subtask_index": 970, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form stable grasp on the white hexagonal block on the black tabletop."}
+{"subtask_index": 971, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black tabletop."}
+{"subtask_index": 972, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black tabletop."}
+{"subtask_index": 973, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the tabletop and transports it to the upper part of the purple rod on the wooden base."}
+{"subtask_index": 974, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden base."}
+{"subtask_index": 975, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the wooden base to the right side."}
+{"subtask_index": 976, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the table in front of the wooden base."}
+{"subtask_index": 977, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table, with slight adjustment of hand position to stabilize the grasp."}
+{"subtask_index": 978, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object from the wooden base plate."}
+{"subtask_index": 979, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object to the position above the purple peg on the wooden base."}
+{"subtask_index": 980, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple peg by aligning and inserting it onto the peg."}
+{"subtask_index": 981, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the grip on the ring."}
+{"subtask_index": 982, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden base towards the green cube on the black table surface."}
+{"subtask_index": 983, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand touches the green cube on the table, fingers close and adjust to form a stable grasp on the cube."}
+{"subtask_index": 984, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cube from the black table surface."}
+{"subtask_index": 985, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cube towards the wooden peg board."}
+{"subtask_index": 986, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the target peg on the wooden board."}
+{"subtask_index": 987, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white ring placed on the black table."}
+{"subtask_index": 988, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white ring on the black table surface."}
+{"subtask_index": 989, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the peg on the wooden base."}
+{"subtask_index": 990, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the peg on the wooden base and inserts it to complete assembly."}
+{"subtask_index": 991, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block placed on the table beside the wooden base."}
+{"subtask_index": 992, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers around the white cylindrical block to form a stable grasp, with minor adjustments to the grip."}
+{"subtask_index": 993, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylinder on the table."}
+{"subtask_index": 994, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder and transports it above the purple rod on the wooden base."}
+{"subtask_index": 995, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder onto the purple rod on the wooden base."}
+{"subtask_index": 996, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder fitted on the purple rod."}
+{"subtask_index": 997, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the right side of the table."}
+{"subtask_index": 998, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table surface."}
+{"subtask_index": 999, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the wooden base with stacked cylinders."}
+{"subtask_index": 1000, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_mate: Right hand places the white cylindrical object onto the purple peg on the wooden base and mates it onto the peg."}
+{"subtask_index": 1001, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object and separates from it."}
+{"subtask_index": 1002, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the area near the white cylindrical bottle set toward the green cube on the table."}
+{"subtask_index": 1003, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cube on the table and adjusts fingers to form a stable grasp."}
+{"subtask_index": 1004, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up away from the black table surface."}
+{"subtask_index": 1005, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar on the wooden base."}
+{"subtask_index": 1006, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and fits the green block onto the top of the target white pillar."}
+{"subtask_index": 1007, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green block after it is stably placed on the white pillar."}
+{"subtask_index": 1008, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves from its initial right-side position toward the green hexagonal nut located at the front-left of the wooden assembly board, adjusting finger posture slightly during the empty-handed approach, with no contact made to the target nut."}
+{"subtask_index": 1009, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target green hexagonal nut on the table surface, making small wrist and finger adjustments to establish a stable grip, while the nut remains supported by the table."}
+{"subtask_index": 1010, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the gripped green hexagonal nut steadily on the table surface at the front-left of the wooden assembly board, with no observable movement of the hand, fingers, wrist or the nut."}
+{"subtask_index": 1011, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand moves upward to lift the gripped green hexagonal nut, with the nut still remaining in contact with the table surface at the end of the segment."}
+{"subtask_index": 1012, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts fingers around the green hexagonal nut on the black table surface to form a stable grip, with the nut remaining on the table."}
+{"subtask_index": 1013, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal nut completely off the table surface and moves it directly above the target purple peg on the wooden pegboard."}
+{"subtask_index": 1014, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal nut with the purple peg and lowers the nut to fit it onto the peg with small positional adjustments."}
+{"subtask_index": 1015, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal nut properly seated on the purple peg, with no observable movement of the hand or the nut."}
+{"subtask_index": 1016, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place: Right hand lowers the held green hexagonal block down along the purple peg until it rests on the wooden pegboard base."}
+{"subtask_index": 1017, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers to release the green hexagonal block seated on the purple peg."}
+{"subtask_index": 1018, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward while empty towards the white hexagonal block positioned closest to the pegboard on the black table surface."}
+{"subtask_index": 1019, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the nearby white hexagonal block on the black table surface, adjusting slightly to secure a stable grip."}
+{"subtask_index": 1020, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block on the black table surface without any observable movement of the hand, fingers or block."}
+{"subtask_index": 1021, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts its grip around the white hexagonal nut resting on the black table surface, with fingers closed to secure the nut."}
+{"subtask_index": 1022, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table surface and moves it upward to a position directly above the purple peg on the wooden block."}
+{"subtask_index": 1023, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and moves the nut downward to fit onto the peg, with small positional adjustments to maintain alignment."}
+{"subtask_index": 1024, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand positions the white cylindrical sleeve onto the leftmost purple peg above the green block, opening fingers to release the sleeve."}
+{"subtask_index": 1025, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward to approach the leftmost white hexagonal nut on the black work surface."}
+{"subtask_index": 1026, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal nut on the table to form a stable grasp."}
+{"subtask_index": 1027, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped white hexagonal nut upward away from the black work surface."}
+{"subtask_index": 1028, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand holds the lifted white hexagonal block and moves it upward and backward to position it above the target purple peg on the wooden base."}
+{"subtask_index": 1029, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand adjusts the position of the white hexagonal block to align its central hole with the purple peg, lowering the block to fit over the peg."}
+{"subtask_index": 1030, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers to release the white hexagonal block fitted on the purple rod of the wooden assembly rack."}
+{"subtask_index": 1031, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward from the wooden rack area toward the white hexagonal block resting on the table in front of the rack, adjacent to a green hexagonal block."}
+{"subtask_index": 1032, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small adjustments to finger and wrist positions to establish a stable grasp."}
+{"subtask_index": 1033, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal block on the black tabletop and lifts the block completely off the table surface."}
+{"subtask_index": 1034, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the grasped white hexagonal block upward to position it directly above the target purple peg on the wooden base."}
+{"subtask_index": 1035, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers the block to fit onto the peg, establishing the assembly connection."}
+{"subtask_index": 1036, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without any observable movement of the hand, fingers or the block."}
+{"subtask_index": 1037, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: press: Right hand moves vertically downward along the purple peg to press the white hexagonal block, applying downward pressure until the block rests on the wooden base surface."}
+{"subtask_index": 1038, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand lowers the white hexagonal block along the purple peg to rest on the wooden base and releases contact with the block."}
+{"subtask_index": 1039, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward toward the green hexagonal block placed on the black table surface."}
+{"subtask_index": 1040, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions and closes around the green hexagonal block on the table to establish a secure grip."}
+{"subtask_index": 1041, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward, fully separating the block from the dark table surface."}
+{"subtask_index": 1042, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand transports the lifted green hexagonal block upward and backward toward the purple vertical rod on the wooden base, positioning the block directly above the rod."}
+{"subtask_index": 1043, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod, moves the block downward along the rod, and makes slight positional adjustments to fit the block onto the rod."}
+{"subtask_index": 1044, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward from near the central block assembly toward the frontmost white hexagonal nut resting on the dark table surface, approaching the nut without making contact."}
+{"subtask_index": 1045, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the frontmost white hexagonal nut on the dark table surface, adjusting finger positions to form a stable grip on the nut while the nut remains on the table."}
+{"subtask_index": 1046, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the frontmost white hexagonal nut steadily on the dark table surface, with no observable movement of the hand or the nut."}
+{"subtask_index": 1047, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand grips the white hexagonal block resting on the dark table surface and lifts it upward until the block is fully separated from the table."}
+{"subtask_index": 1048, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the position directly above the purple vertical rod on the wooden block assembly stand."}
+{"subtask_index": 1049, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the purple rod, lowers the block to fit onto the rod, and makes small positional adjustments to properly seat the block on the assembly."}
+{"subtask_index": 1050, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: hold: Right hand holds the properly seated white hexagonal block on the purple rod without any visible movement."}
+{"subtask_index": 1051, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand releases the white-and-green cylinder on the wooden base, fingers opening as they move away from the stabilized cylinder."}
+{"subtask_index": 1052, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves toward the upper white hexagonal nut on the right side of the table, staying empty while approaching the target object."}
+{"subtask_index": 1053, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand contacts the upper white hexagonal nut, fingers closing around the nut with small wrist adjustments to form a grip."}
+{"subtask_index": 1054, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface, transports it upward and leftward to the position directly above the target stack on the wooden block holder."}
+{"subtask_index": 1055, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand moves the grasped white hexagonal block downward, aligns it with the target post on the block stack, mates it to the top of the existing stack until the block is stably supported by the stack."}
+{"subtask_index": 1056, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: release: Right hand opens fingers to release the grasped white hexagonal block, separating the hand from the block placed on the stack."}
+{"subtask_index": 1057, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward from the area near the stacked column toward the white hexagonal nut placed on the black table surface."}
+{"subtask_index": 1058, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making slight adjustments to the grip while the nut remains on the table surface."}
+{"subtask_index": 1059, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand holds the white cylindrical object with closed fingers and lifts it upward off the black table surface."}
+{"subtask_index": 1060, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the grasped white cylindrical object upward and leftward to the position above the purple rod on the wooden rack."}
+{"subtask_index": 1061, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod on the wooden rack and makes slight positional adjustments to fit the object onto the rod."}
+{"subtask_index": 1062, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand holds the white cylindrical block with green band, moves it downward to align and place it onto the purple rod on the wooden block base, opens fingers to release the stably supported block."}
+{"subtask_index": 1063, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty in a downward-right direction toward the green hollow square block resting on the dark table surface."}
+{"subtask_index": 1064, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hollow square block on the dark table surface, adjusting finger positions to form a stable grasp."}
+{"subtask_index": 1065, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand holds the green block on the dark table surface and lifts it upward."}
+{"subtask_index": 1066, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted green block upward and toward the empty slot on the white block rack."}
+{"subtask_index": 1067, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: mate: Right hand adjusts the green block's position and orientation slightly to align it with the empty slot on the block rack."}
+{"subtask_index": 1068, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the green block downward and away from the block rack back toward the dark table surface."}
+{"subtask_index": 1069, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: place_release: Right hand lowers the green block onto the dark table surface and opens fingers to release the block."}
+{"subtask_index": 1070, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: retreat: Right hand moves slightly away from the released green block on the table with an empty hand."}
+{"subtask_index": 1071, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: grasp: Right hand adjusts finger positions to close around and firmly grasp the green block on the dark table surface."}
+{"subtask_index": 1072, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: lift: Right hand holds the grasped green block and lifts it upward off the dark table surface."}
+{"subtask_index": 1073, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted green block upward and back toward the empty slot on the white block rack."}
+{"subtask_index": 1074, "subtask": "Left hand: return_home: Left hand moves upward to the home position at the left upper side of the worktable. | Right hand: reach: Right hand moves upward then leftward and downward to approach the left green hexagonal block on the table, with no contact established."}
+{"subtask_index": 1075, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves upward then leftward and downward to approach the left green hexagonal block on the table, with no contact established."}
+{"subtask_index": 1076, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left green hexagonal block on the table, with slight adjustments to stabilize the grip."}
+{"subtask_index": 1077, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift: Right hand lifts the left green hexagonal block upward until it is completely off the table surface."}
+{"subtask_index": 1078, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand carries the green hexagonal block upward toward the leftmost purple rod on the wooden base."}
+{"subtask_index": 1079, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple rod and inserts it partially onto the rod."}
+{"subtask_index": 1080, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand adjusts its grip to grasp the green block on the dark table surface."}
+{"subtask_index": 1081, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts and transports the green block from the table to the position above the purple pegs on the wooden board."}
+{"subtask_index": 1082, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green block onto the purple peg by aligning and lowering it onto the peg of the wooden base."}
+{"subtask_index": 1083, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the green block fitted on the purple peg without moving."}
+{"subtask_index": 1084, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: place_release: Right hand places the green cubic block onto the wooden base of the leftmost purple peg, releasing it upon contact with the base."}
+{"subtask_index": 1085, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the upper left part of the table surface, moving downward from the peg area."}
+{"subtask_index": 1086, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to stabilize the grip."}
+{"subtask_index": 1087, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}
+{"subtask_index": 1088, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table next to the green cube, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1089, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it upward to the position above the leftmost purple peg of the peg set."}
+{"subtask_index": 1090, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost purple peg and inserts it downward onto the peg."}
+{"subtask_index": 1091, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the white hexagonal part by opening its fingers to separate from the part."}
+{"subtask_index": 1092, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the white hex block onto the leftmost vertical peg of the wooden base."}
+{"subtask_index": 1093, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the left white hex block on the dark table surface."}
+{"subtask_index": 1094, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hex block on the dark table surface, adjusting the grip."}
+{"subtask_index": 1095, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the left white hex block on the dark table surface without moving."}
+{"subtask_index": 1096, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the green base of the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1097, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the green base and transports it toward the leftmost purple rod of the test tube rack."}
+{"subtask_index": 1098, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod of the test tube rack and fits it down onto the rod until it touches the green base below."}
+{"subtask_index": 1099, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the white hexagonal block by opening its fingers and separates from the block."}
+{"subtask_index": 1100, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward from the upper peg group area toward the white cube on the table in front of the wooden base, with no contact with the cube."}
+{"subtask_index": 1101, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cube on the table in front of the wooden base, with slight finger adjustments for stable grip."}
+{"subtask_index": 1102, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white cube off the table and transports it to the position above the middle purple peg, adjusting the cube's orientation to align its hole with the peg."}
+{"subtask_index": 1103, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand moves the white cube downward to fit it onto the middle purple peg, completing the nesting assembly."}
+{"subtask_index": 1104, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the front peg of the wooden rack and carries it to the position above the right purple peg."}
+{"subtask_index": 1105, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate_release: Right hand lowers the white cubic block onto the right purple peg to fit it in place and releases its grip on the block."}
+{"subtask_index": 1106, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table in front of the wooden base."}
+{"subtask_index": 1107, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes fingers around the green cubic block on the table to form a stable grasp."}
+{"subtask_index": 1108, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}
+{"subtask_index": 1109, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1110, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and transports it upward to the top of the middle peg."}
+{"subtask_index": 1111, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green cubic block onto the middle peg by lowering it to fit the peg through the block's hole."}
+{"subtask_index": 1112, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: hold: Right hand holds the green cubic block fitted on the middle peg without moving."}
+{"subtask_index": 1113, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the green hexagonal block on the purple vertical post, with fingers opening and separating from the block."}
+{"subtask_index": 1114, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 1115, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table surface."}
+{"subtask_index": 1116, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and moves it upward toward the post assembly area."}
+{"subtask_index": 1117, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand transports the white perforated cubic block upward and leftward from the tabletop area to the position above the target peg on the wooden pegboard."}
+{"subtask_index": 1118, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the white perforated cubic block with the target peg by lowering the block to fit the peg through its central hole."}
+{"subtask_index": 1119, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate_release: Right hand mates the white block onto the purple rod on the wooden base and releases the block."}
+{"subtask_index": 1120, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward and rightward to approach the white cubic block on the table surface."}
+{"subtask_index": 1121, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white cubic block on the table surface with fingers closing and adjusting for stable grip."}
+{"subtask_index": 1122, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift_transport: Right hand lifts and transports the white hollow block from the table to the position directly above the purple rod on the wooden base."}
+{"subtask_index": 1123, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by lowering and fitting it onto the rod."}
+{"subtask_index": 1124, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand opens its fingers to release the white hollow block fitted on the purple rod."}
+{"subtask_index": 1125, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: retreat: Right hand moves upward away from the white block on the purple rod."}
+{"subtask_index": 1126, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}
+{"subtask_index": 1127, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1128, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift: Right hand lifts the white square block upward from the dark table surface."}
+{"subtask_index": 1129, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand transports the white square block leftward and upward to the position directly above the purple rod on the wooden rack."}
+{"subtask_index": 1130, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand aligns the inner hole of the white square block with the purple rod and inserts the block onto the rod."}
+{"subtask_index": 1131, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: place: Right hand lowers the white square block along the purple rod and places it on the supporting block at the bottom of the rod."}
+{"subtask_index": 1132, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release_retreat: Right hand opens its fingers to release the white square block, then moves slightly rightward away from the block."}
+{"subtask_index": 1133, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand moves downward from the position near the bottle rack toward the green cube on the dark table surface."}
+{"subtask_index": 1134, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the green cube on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1135, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: lift: Right hand lifts the green square block from the dark table surface."}
+{"subtask_index": 1136, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: transport: Right hand transports the green square block upward and leftward to the top of the target peg on the wooden rack."}
+{"subtask_index": 1137, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green square block onto the target peg, adjusting position to align the block's hole with the peg."}
+{"subtask_index": 1138, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: release: Right hand releases the green square block, fingers opening to separate from the block which falls onto the table."}
+{"subtask_index": 1139, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: reach: Right hand reaches downward toward the green square block on the dark table surface next to the wooden rack."}
+{"subtask_index": 1140, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: grasp: Right hand grasps the green square block on the table, adjusting fingers to form a stable grip."}
+{"subtask_index": 1141, "subtask": "Left hand: idle: Left hand remains empty at the left upper home position without moving. | Right hand: mate: Right hand mates the green square block onto the target peg, lowering it to fit securely on the peg."}
+{"subtask_index": 1142, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green block at the front left of the wooden base."}
+{"subtask_index": 1143, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers and closes to grasp the green block on the black table."}
+{"subtask_index": 1144, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward until it is completely off the black table surface."}
+{"subtask_index": 1145, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the gripped green block to the position above the leftmost purple peg on the wooden base."}
+{"subtask_index": 1146, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the leftmost purple peg and presses it down onto the peg."}
+{"subtask_index": 1147, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost purple peg without moving."}
+{"subtask_index": 1148, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block onto the purple rod fixed on the wooden base."}
+{"subtask_index": 1149, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the black table surface."}
+{"subtask_index": 1150, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 1151, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the purple rods on the wooden base."}
+{"subtask_index": 1152, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand mates the white hexagonal block with the leftmost purple rod and presses it down to secure."}
+{"subtask_index": 1153, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple rod without moving."}
+{"subtask_index": 1154, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to approach the left white hexagonal block on the table surface."}
+{"subtask_index": 1155, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the left white hexagonal block on the table surface."}
+{"subtask_index": 1156, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the tabletop and transports it towards the wooden base with purple rods."}
+{"subtask_index": 1157, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal part with the leftmost purple rod on the wooden base and inserts it onto the rod."}
+{"subtask_index": 1158, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white hexagonal part down along the purple rod to secure it in place."}
+{"subtask_index": 1159, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 1160, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1161, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}
+{"subtask_index": 1162, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white block to the position above the purple rod on the wooden base."}
+{"subtask_index": 1163, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white block with the purple rod by inserting it down onto the rod."}
+{"subtask_index": 1164, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white block fitted on the purple rod without moving."}
+{"subtask_index": 1165, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}
+{"subtask_index": 1166, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table surface."}
+{"subtask_index": 1167, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp and adjust grip on the green hexagonal block on the table surface."}
+{"subtask_index": 1168, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green cubic block towards the purple vertical rod on the wooden base."}
+{"subtask_index": 1169, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the purple rod and inserts it down onto the rod to complete the assembly."}
+{"subtask_index": 1170, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white ring onto the purple rod on the wooden base."}
+{"subtask_index": 1171, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hex ring on the table surface."}
+{"subtask_index": 1172, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hex ring on the table surface."}
+{"subtask_index": 1173, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object off the black table surface."}
+{"subtask_index": 1174, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white cylindrical object towards the wooden base with stacked blocks."}
+{"subtask_index": 1175, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the peg on the green block of the wooden base."}
+{"subtask_index": 1176, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the aligned peg of the wooden base."}
+{"subtask_index": 1177, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the peg of the green block on the wooden base."}
+{"subtask_index": 1178, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block placed on the table."}
+{"subtask_index": 1179, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the table."}
+{"subtask_index": 1180, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block up away from the black tabletop."}
+{"subtask_index": 1181, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white cylindrical block to the position right above the purple vertical rod on the wooden base."}
+{"subtask_index": 1182, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cylindrical block onto the purple vertical rod until it rests on the wooden base."}
+{"subtask_index": 1183, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white hexagonal block on the black table."}
+{"subtask_index": 1184, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers adjusting to form stable grip."}
+{"subtask_index": 1185, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple rod on the wooden base until it is supported by the rod."}
+{"subtask_index": 1186, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block that is fitted on the purple rod."}
+{"subtask_index": 1187, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base, then releases the block."}
+{"subtask_index": 1188, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green block on the table surface."}
+{"subtask_index": 1189, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green block and adjusts fingers to form a stable grip."}
+{"subtask_index": 1190, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the table surface."}
+{"subtask_index": 1191, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block to above the rightmost white post on the wooden rack."}
+{"subtask_index": 1192, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the inner hole of the green block with the rightmost white post and fits the block onto the post."}
+{"subtask_index": 1193, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the rightmost white post to secure it in place."}
+{"subtask_index": 1194, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens its fingers to release the green block on the white post."}
+{"subtask_index": 1195, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves from its initial upper-right position toward the green hexagonal nut located at the front-left of the wooden peg rack, with fingers extended and open."}
+{"subtask_index": 1196, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal nut, making slight adjustments to finger positions to form a grasp, while the nut remains resting on the table surface."}
+{"subtask_index": 1197, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the table surface, moving it upward to position directly above the purple post on the wooden base."}
+{"subtask_index": 1198, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the purple post, adjusts its position, and fits the block onto the post for nesting assembly."}
+{"subtask_index": 1199, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod on the wooden base and releases its grip on the block."}
+{"subtask_index": 1200, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward with empty hand to approach the white hexagonal block on the front left of the table surface."}
+{"subtask_index": 1201, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the front left white hexagonal block on the table and adjusts its grip to establish stable hold."}
+{"subtask_index": 1202, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the front left white hexagonal block on the table surface without any observable movement."}
+{"subtask_index": 1203, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand approaches the white hexagonal nut on the black table surface and closes fingers to form a stable grip around the nut, which remains supported by the table."}
+{"subtask_index": 1204, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut upward to fully separate it from the table surface, moving the nut through air to the position directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 1205, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple peg, lowering the nut to fit it onto the peg with slight positional adjustments to complete the nesting assembly."}
+{"subtask_index": 1206, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal nut fitted onto the purple peg, with no observable movement of the hand, fingers or the nut."}
+{"subtask_index": 1207, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand holds the white cylindrical sleeve, moves it downward to seat it onto the green block on the purple support rod, fingers opening to release the sleeve once it is supported by the block."}
+{"subtask_index": 1208, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward toward the leftmost white hexagonal nut placed on the dark table surface."}
+{"subtask_index": 1209, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand positions fingers around the leftmost white hexagonal nut, adjusting finger contact positions and closing fingers to form a grip on the nut."}
+{"subtask_index": 1210, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block upward off the dark table surface and carries the block to the position directly above the purple post on the wooden assembly base."}
+{"subtask_index": 1211, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand makes slight positional and angular adjustments to align the central hole of the white hexagonal block with the purple post, fitting the block onto the post."}
+{"subtask_index": 1212, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand is empty, moves downward from the upper area of the wooden assembly stand to approach the nearest white hexagonal block on the black table surface."}
+{"subtask_index": 1213, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the target white hexagonal block, fingers close and perform slight positional adjustments to form a stable grasp on the block."}
+{"subtask_index": 1214, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface, moving it upward and horizontally to a position directly above the empty purple peg on the wooden assembly."}
+{"subtask_index": 1215, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_mate: Right hand lowers the white hexagonal cylinder onto the purple peg, aligning the cylinder's central hole with the peg to seat it on the wooden assembly."}
+{"subtask_index": 1216, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal cylinder stably seated on the purple peg of the wooden assembly with no observable movement."}
+{"subtask_index": 1217, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the white hexagonal block above the purple rod on the wooden peg base."}
+{"subtask_index": 1218, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward empty toward the green hexagonal block resting on the black table surface."}
+{"subtask_index": 1219, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes and adjusts fingers around the green hexagonal block on the table to form a stable grip, with the block remaining on the supporting table surface."}
+{"subtask_index": 1220, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand lifts the gripped green hexagonal block upward slightly off the table surface."}
+{"subtask_index": 1221, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand grasps the green hexagonal block on the dark table surface, lifting it completely off the table and moving it upward to position the block directly above the target purple peg on the wooden assembly rack."}
+{"subtask_index": 1222, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, lowering the block to fit it onto the peg to form an assembly with the rack."}
+{"subtask_index": 1223, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the assembled green block on the purple peg without any visible movement of the hand, fingers, or block."}
+{"subtask_index": 1224, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release_reach: Right hand opens fingers to release the white cylindrical block on the purple rod, moving downward toward the white hexagonal block on the dark table surface."}
+{"subtask_index": 1225, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger positions to form a stable grip."}
+{"subtask_index": 1226, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward, fully separating it from the table surface."}
+{"subtask_index": 1227, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand grips the white hexagonal nut and moves it upward to the position directly above the purple rod on the wooden assembly base."}
+{"subtask_index": 1228, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod, making small positional adjustments to align the parts properly."}
+{"subtask_index": 1229, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the top of the purple rod on the wooden base, opening fingers to release the block once it is supported by the rod."}
+{"subtask_index": 1230, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves rightward and downward toward the white hexagonal nut resting on the table near the wooden base, with no contact to the target nut."}
+{"subtask_index": 1231, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes small finger adjustments to close around the white hexagonal nut on the table, working to establish a stable grasp on the nut."}
+{"subtask_index": 1232, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand holds the white hexagonal block and lifts it upward off the dark table surface."}
+{"subtask_index": 1233, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the purple rod mounted on the wooden base."}
+{"subtask_index": 1234, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand aligns the white hexagonal block with the purple rod, lowers the block to fit over the rod, and opens fingers to release the block onto the rod."}
+{"subtask_index": 1235, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand releases the white hexagonal block mounted on the purple rod of the wooden block stand, fingers opening to break contact with the block."}
+{"subtask_index": 1236, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and rightward through empty space toward the loose white hexagonal nut resting on the dark work surface."}
+{"subtask_index": 1237, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand contacts the loose white hexagonal nut on the dark work surface, closing and adjusting finger positions to establish a grip on the nut."}
+{"subtask_index": 1238, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table surface and moves it upward to the position above the purple rod on the wooden block base."}
+{"subtask_index": 1239, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and lowers the block to nest it onto the rod for assembly."}
+{"subtask_index": 1240, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the white cylindrical block positioned on the purple peg of the wooden assembly stand."}
+{"subtask_index": 1241, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward across the dark work surface toward the green hollow cube, making no contact with the cube during this movement."}
+{"subtask_index": 1242, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green hollow cube resting on the dark work surface, making small finger position adjustments to form a stable grip while the cube remains on the work surface."}
+{"subtask_index": 1243, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves upward with the grasped green hollow cube, lifting the cube completely away from the dark work surface."}
+{"subtask_index": 1244, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the grasped green block upward and leftward toward the purple post on the wooden block rack."}
+{"subtask_index": 1245, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand adjusts the green block to align its hole with the purple post, opens fingers to release the block which falls to the table."}
+{"subtask_index": 1246, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: idle: Right hand remains empty above the block rack without any visible movement."}
+{"subtask_index": 1247, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward empty to approach the green block resting on the table surface."}
+{"subtask_index": 1248, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green block on the table to form a grip."}
+{"subtask_index": 1249, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reorient: Right hand rotates the grasped green block about a quarter turn to position it upright on the table."}
+{"subtask_index": 1250, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand moves the upright green block slightly forward to the marked position on the table."}
+{"subtask_index": 1251, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions on the upright green block to stabilize the grip for subsequent lifting."}
+{"subtask_index": 1252, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it upward and leftward to the position above the purple post."}
+{"subtask_index": 1253, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the green block with the top of the purple post below."}
+{"subtask_index": 1254, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place: Right hand lowers the green block onto the purple post until the block is fully supported by the post."}
+{"subtask_index": 1255, "subtask": "Left hand: return_home: Left hand moves upward and leftward from the left lower position to the home position at the upper left side of the table, remaining empty. | Right hand: reach: Right hand moves leftward and slightly upward from the right side of the table toward the green hexagonal block on the table in front of the wooden peg rack, remaining empty."}
+{"subtask_index": 1256, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves leftward and slightly upward from the right side of the table toward the green hexagonal block on the table in front of the wooden peg rack, remaining empty."}
+{"subtask_index": 1257, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 1258, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface, holding the block steadily."}
+{"subtask_index": 1259, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the front-left purple peg of the wooden rack and fits the block onto the peg."}
+{"subtask_index": 1260, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table to the left of the wooden peg board, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1261, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface."}
+{"subtask_index": 1262, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the green hexagonal block rightward and upward to position it above the leftmost purple peg on the wooden board."}
+{"subtask_index": 1263, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the leftmost purple peg and lowers the block onto the peg to assemble them."}
+{"subtask_index": 1264, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press_release: Right hand presses the white hexagonal block on the leftmost purple peg downward, and releases the white block after the lower green block reaches the wooden base."}
+{"subtask_index": 1265, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the desktop in front of the pegboard."}
+{"subtask_index": 1266, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the desktop, with fingers closing and adjusting around the block."}
+{"subtask_index": 1267, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the desktop without moving."}
+{"subtask_index": 1268, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}
+{"subtask_index": 1269, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the leftmost purple peg on the pegboard."}
+{"subtask_index": 1270, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the leftmost purple peg by aligning the block's hole with the peg and lowering the block onto the peg."}
+{"subtask_index": 1271, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press: Right hand presses the white block down onto the leftmost purple peg of the wooden base."}
+{"subtask_index": 1272, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward from the upper peg area to approach the leftmost white hexagonal block on the table."}
+{"subtask_index": 1273, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing and adjusting."}
+{"subtask_index": 1274, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the leftmost white hexagonal block on the table without moving."}
+{"subtask_index": 1275, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the dark table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1276, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece off the dark table and transports it toward the leftmost purple peg of the wooden pegboard."}
+{"subtask_index": 1277, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden pegboard, lowering it to fit over the peg."}
+{"subtask_index": 1278, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the leftmost purple peg without moving."}
+{"subtask_index": 1279, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the leftmost purple rod of the wooden base."}
+{"subtask_index": 1280, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the front left of the table, empty."}
+{"subtask_index": 1281, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the front left of the table with fingers closing around it."}
+{"subtask_index": 1282, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward to the position above the purple peg on the wooden base."}
+{"subtask_index": 1283, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning the block's hole with the peg and lowering the block down the peg."}
+{"subtask_index": 1284, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg without moving."}
+{"subtask_index": 1285, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white ring onto the middle purple peg of the wooden base."}
+{"subtask_index": 1286, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the table."}
+{"subtask_index": 1287, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table with fingers closing and adjusting."}
+{"subtask_index": 1288, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table and transports it toward the vertical peg on the wooden board."}
+{"subtask_index": 1289, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical peg, lowering it along the peg."}
+{"subtask_index": 1290, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the vertical peg without moving."}
+{"subtask_index": 1291, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the purple vertical rod and releases the block."}
+{"subtask_index": 1292, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the dark table surface."}
+{"subtask_index": 1293, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hollow block on the dark table surface with fingers closing and adjusting."}
+{"subtask_index": 1294, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal cylinder off the table and transports it towards the wooden peg rack."}
+{"subtask_index": 1295, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal cylinder onto the purple peg of the wooden rack, lowering it to fit onto the peg."}
+{"subtask_index": 1296, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple vertical rod on the wooden base and releases the block."}
+{"subtask_index": 1297, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table near the wooden base."}
+{"subtask_index": 1298, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table near the wooden base, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1299, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 1300, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and lowering it onto the rod."}
+{"subtask_index": 1301, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base."}
+{"subtask_index": 1302, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 1303, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface with fingers closing and adjusting."}
+{"subtask_index": 1304, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it upward and leftward to above the purple rod on the wooden base."}
+{"subtask_index": 1305, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the hole of the white block with the purple rod, then moves the block downward along the rod to complete the assembly."}
+{"subtask_index": 1306, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: hold: Right hand holds the white block on the purple rod base without moving."}
+{"subtask_index": 1307, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: release: Right hand releases its grip on the purple top of the white cylinder with green base placed in the wooden rack."}
+{"subtask_index": 1308, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the dark table surface."}
+{"subtask_index": 1309, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface, with fingers adjusting position to form a stable grip."}
+{"subtask_index": 1310, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the dark table surface."}
+{"subtask_index": 1311, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and moves it to above the front-right bottle with a purple top."}
+{"subtask_index": 1312, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: mate: Right hand aligns the green block with the purple top of the front-right bottle and fits it onto the bottle."}
+{"subtask_index": 1313, "subtask": "Left hand: idle: Left hand remains empty at the upper left home position without moving. | Right hand: press: Right hand presses the green block downward to fully seat it on the bottle."}
+{"subtask_index": 1314, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the leftmost white cylindrical block on the wooden base."}
+{"subtask_index": 1315, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the leftmost white cylindrical block on the wooden base."}
+{"subtask_index": 1316, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white cylindrical block upwards away from the wooden base."}
+{"subtask_index": 1317, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the black table surface."}
+{"subtask_index": 1318, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cube upwards away from the table surface."}
+{"subtask_index": 1319, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cube to the position above the purple peg on the wooden base."}
+{"subtask_index": 1320, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube with the purple peg by lowering it onto the peg."}
+{"subtask_index": 1321, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the purple peg without any movement."}
+{"subtask_index": 1322, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the leftmost purple post of the wooden base."}
+{"subtask_index": 1323, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves down from the wooden base toward the white hexagonal block on the table."}
+{"subtask_index": 1324, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1325, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up from the black table surface."}
+{"subtask_index": 1326, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white hexagonal block towards the purple rod on the wooden base."}
+{"subtask_index": 1327, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hexagonal block onto the purple rod of the wooden base and releases the block."}
+{"subtask_index": 1328, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the upper peg board area towards the leftmost white hexagonal block on the table, without contacting the block."}
+{"subtask_index": 1329, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the leftmost white hexagonal block, fingers close and adjust slightly to form a stable grip on the block."}
+{"subtask_index": 1330, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block slightly upwards off the table surface."}
+{"subtask_index": 1331, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the leftmost purple rod on the wooden rack."}
+{"subtask_index": 1332, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod on the wooden rack."}
+{"subtask_index": 1333, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block downward towards the purple peg on the wooden base."}
+{"subtask_index": 1334, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg by pressing it down along the peg."}
+{"subtask_index": 1335, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the white cylindrical block on the table surface."}
+{"subtask_index": 1336, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upwards away from the table surface."}
+{"subtask_index": 1337, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical block to the position above the target purple peg on the wooden base."}
+{"subtask_index": 1338, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple peg and inserts it downwards onto the peg."}
+{"subtask_index": 1339, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the middle purple rod of the wooden base."}
+{"subtask_index": 1340, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block fitted onto the purple peg."}
+{"subtask_index": 1341, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the black tabletop."}
+{"subtask_index": 1342, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cubic block on the black tabletop."}
+{"subtask_index": 1343, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it upward to the area above the wooden peg rack."}
+{"subtask_index": 1344, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and inserts the green cubic block onto the target peg of the wooden rack."}
+{"subtask_index": 1345, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the peg of the wooden rack without moving."}
+{"subtask_index": 1346, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple rod on the wooden base."}
+{"subtask_index": 1347, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}
+{"subtask_index": 1348, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the white hexagonal block on the dark table surface."}
+{"subtask_index": 1349, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward from the dark table surface."}
+{"subtask_index": 1350, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it to the position above the purple peg on the wooden base."}
+{"subtask_index": 1351, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by aligning and lowering it to fit onto the peg."}
+{"subtask_index": 1352, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the rod of the wooden base."}
+{"subtask_index": 1353, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black table."}
+{"subtask_index": 1354, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the black table."}
+{"subtask_index": 1355, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 1356, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white cylindrical block with the purple rod and fits the block onto the rod."}
+{"subtask_index": 1357, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down along the purple rod to the bottom of the rod."}
+{"subtask_index": 1358, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white cylindrical block fitted on the purple rod."}
+{"subtask_index": 1359, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 1360, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it toward the wooden base with stacked blocks."}
+{"subtask_index": 1361, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table in front of the wooden rack."}
+{"subtask_index": 1362, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 1363, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block up off the table surface."}
+{"subtask_index": 1364, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple rod on the wooden rack."}
+{"subtask_index": 1365, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden rack."}
+{"subtask_index": 1366, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand opens fingers to release the white hexagonal block on the purple rod."}
+{"subtask_index": 1367, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden rack after releasing the block."}
+{"subtask_index": 1368, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the grey table."}
+{"subtask_index": 1369, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the green cubic block on the grey table."}
+{"subtask_index": 1370, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the black table surface without moving."}
+{"subtask_index": 1371, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up away from the table surface."}
+{"subtask_index": 1372, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar with purple top on the wooden base."}
+{"subtask_index": 1373, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white pillar and inserts it onto the pillar."}
+{"subtask_index": 1374, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downwards along the pillar to fit it tightly."}
+{"subtask_index": 1375, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block downwards from the pillar back to the table surface."}
+{"subtask_index": 1376, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green block placed on the table surface."}
+{"subtask_index": 1377, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block up away from the table surface again."}
+{"subtask_index": 1378, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the white pillar with purple top again."}
+{"subtask_index": 1379, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white pillar and inserts it onto the pillar again."}
+{"subtask_index": 1380, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block downwards along the pillar to fix it stably."}
+{"subtask_index": 1381, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: idle: Right hand remains empty at the right side of the table with no observable movement."}
+{"subtask_index": 1382, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block near the wooden assembly base, with fingers extended as it approaches the target."}
+{"subtask_index": 1383, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the green hexagonal block, making small continuous adjustments to finger contact points and wrist position to establish a stable grip, while the block stays resting on the table surface."}
+{"subtask_index": 1384, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand moves vertically upward to lift the gripped green hexagonal block completely off the dark table surface."}
+{"subtask_index": 1385, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block through the air to position it directly above the leftmost purple peg on the wooden base."}
+{"subtask_index": 1386, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the leftmost purple peg, fits the block onto the peg while making small positional adjustments to maintain alignment, and lowers the block to rest stably on the wooden base surface."}
+{"subtask_index": 1387, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand grips the green hexagonal block on the purple post and pulls it toward the camera until the block is completely separated from the post and the wooden base."}
+{"subtask_index": 1388, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block toward the camera to the position above the target white hexagonal block placed on the table."}
+{"subtask_index": 1389, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place: Right hand adjusts the position of the green hexagonal block and lowers it onto the target white hexagonal block until the block is supported by the target."}
+{"subtask_index": 1390, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hexagonal block resting on the dark table surface."}
+{"subtask_index": 1391, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand lifts the stably grasped white hexagonal block vertically upward until the block is fully separated from the table surface."}
+{"subtask_index": 1392, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand moves the grasped white hexagonal block toward the purple vertical post mounted on the wooden base."}
+{"subtask_index": 1393, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical post and fits the block onto the post with slight positional adjustments."}
+{"subtask_index": 1394, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg of the wooden base, with the block positioned above the green block on the same peg, no observable movement of hand or block."}
+{"subtask_index": 1395, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reorient: Right hand rotates the held white hexagonal block slightly to align its central hole with the purple peg, with a small upward shift along the peg during adjustment."}
+{"subtask_index": 1396, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand moves the white hexagonal block straight down along the purple peg until the block rests stably on the green block below, fingers opening to release grip on the block at the end of the movement."}
+{"subtask_index": 1397, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves empty downward from the wooden peg base toward the leftmost white hexagonal block resting on the black table surface."}
+{"subtask_index": 1398, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block on the black table surface, adjusting finger position to establish a stable grip, with the block remaining on the table surface."}
+{"subtask_index": 1399, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the unoccupied purple rod on the wooden assembly base."}
+{"subtask_index": 1400, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand adjusts the orientation and position of the held white hexagonal block to align its central hole with the purple rod, lowering the block slightly to fit it onto the rod and establish an assembly connection."}
+{"subtask_index": 1401, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place: Right hand slides the white hexagonal block down along the purple rod until the block rests stably on the top surface of the green block mounted on the wooden base, fully supported by the green block."}
+{"subtask_index": 1402, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the white hexagonal block on the leftmost peg of the wooden stand to establish a stable grip, with the block remaining on the peg."}
+{"subtask_index": 1403, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand moves the grasped white hexagonal block off the wooden peg and downward to the position above the table surface near the front of the wooden stand."}
+{"subtask_index": 1404, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place: Right hand lowers the white hexagonal block onto the table surface, setting it down to be fully supported by the table."}
+{"subtask_index": 1405, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the placed white hexagonal block on the table surface with no observable movement of the hand or the block."}
+{"subtask_index": 1406, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts its fingers to establish a stable grasp on the white hexagonal block resting on the table near the wooden assembly base."}
+{"subtask_index": 1407, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to position directly above the purple peg on the wooden base."}
+{"subtask_index": 1408, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and lowers it to fit onto the peg, making small positional adjustments to align the parts."}
+{"subtask_index": 1409, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the purple rod on the wooden assembly base, opens fingers to release the block."}
+{"subtask_index": 1410, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block located on the table surface near the wooden base."}
+{"subtask_index": 1411, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand adjusts finger positions around the green hexagonal block on the table, closing fingers gradually to establish a stable grasp with minor contact adjustments."}
+{"subtask_index": 1412, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand holds the green hexagonal block with closed fingers and lifts the block vertically upward from the dark table surface until the block is fully off the table."}
+{"subtask_index": 1413, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport_mate: Right hand carries the lifted green hexagonal block upward and forward toward the purple rod on the wooden assembly base, aligns the block's central hole with the rod, and fits the block onto the rod."}
+{"subtask_index": 1414, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the green hexagonal block fitted onto the purple rod on the wooden base, with no observable movement of the hand, fingers or the block."}
+{"subtask_index": 1415, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden block assembly toward the white hexagonal block on the dark work surface while remaining empty."}
+{"subtask_index": 1416, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the work surface, making slight adjustments to finger positions to form a grip on the block."}
+{"subtask_index": 1417, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block resting on the dark work surface without observable movement."}
+{"subtask_index": 1418, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark work surface and transports it upward toward the empty purple peg on the wooden block base."}
+{"subtask_index": 1419, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the empty purple peg on the wooden base, adjusting position slightly as it lowers the block to fit securely onto the peg."}
+{"subtask_index": 1420, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: release_retreat: Right hand opens its fingers to release the white hexagonal block seated on the purple peg, moving away from the assembled block."}
+{"subtask_index": 1421, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand lowers the white hexagonal block onto the top peg of the stacked block assembly, releasing the block as it becomes fully supported by the peg."}
+{"subtask_index": 1422, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward toward the small white hexagonal block resting on the table adjacent to the wooden base, with fingers held in an open position."}
+{"subtask_index": 1423, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal block on the table, closing fingers and making small positional adjustments to form a stable grip on the block."}
+{"subtask_index": 1424, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand grips the white hexagonal block and moves it upward to the position above the purple rod on the wooden block base."}
+{"subtask_index": 1425, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod."}
+{"subtask_index": 1426, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any visible movement or adjustment."}
+{"subtask_index": 1427, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: place_release: Right hand holds the purple rod, lowers it toward the white holder on the wooden base and releases the rod to let it settle into the holder."}
+{"subtask_index": 1428, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal nut on the dark table surface, with fingers slightly open as it approaches the target."}
+{"subtask_index": 1429, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making small adjustments to finger positions to form a stable grip."}
+{"subtask_index": 1430, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut on the dark table surface without any visible movement of the hand or the gripped nut."}
+{"subtask_index": 1431, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift_transport: Right hand lifts the small white block completely off the table surface and moves it upward toward the stacked block assembly on the light wooden base."}
+{"subtask_index": 1432, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand aligns the small white block with the target position on the top of the stacked blocks and fits it into the assembly, making slight positional adjustments to seat the block properly."}
+{"subtask_index": 1433, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: reach: Right hand moves downward from the area adjacent to the stacked bottle assembly toward the green cubic block on the dark table surface, making no contact with the block during movement."}
+{"subtask_index": 1434, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: grasp_lift: Right hand makes contact with the green cubic block on the table, closes fingers and adjusts position to form a firm grip around the block while raising the block slightly from the table surface."}
+{"subtask_index": 1435, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: lift: Right hand holds the green hexagonal block resting on the black work surface and lifts it upward until the block is fully separated from the supporting surface."}
+{"subtask_index": 1436, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block upward and toward the wooden block rack, moving the block to the position directly above the purple cylindrical peg on the rack."}
+{"subtask_index": 1437, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table with no observable movement. | Right hand: mate: Right hand makes small positional adjustments to the green hexagonal block, aligning its central hole with the purple cylindrical peg below to attempt nesting the block onto the peg."}
+{"subtask_index": 1438, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves leftward and downward toward the green hexagonal block on the table at the left front of the wooden peg rack, with hand empty."}
+{"subtask_index": 1439, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1440, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the green hexagonal block stationary on the table surface."}
+{"subtask_index": 1441, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward until it leaves the table surface."}
+{"subtask_index": 1442, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the green block from the table and transports it to the position above the middle purple peg on the wooden board."}
+{"subtask_index": 1443, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the green block with the middle purple peg and inserts it downward onto the peg."}
+{"subtask_index": 1444, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate_release: Right hand lowers the green cube along the leftmost purple peg of the wooden base to complete mating and releases the cube."}
+{"subtask_index": 1445, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the tabletop at the upper left of the ground green cube."}
+{"subtask_index": 1446, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp_lift: Right hand closes and adjusts fingers to grasp the white hexagonal piece on the tabletop and lifts it slightly off the surface."}
+{"subtask_index": 1447, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: transport: Right hand holds the white hexagonal block and moves it backward to the position above the purple peg on the pegboard."}
+{"subtask_index": 1448, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and fits it down along the peg onto the green base block."}
+{"subtask_index": 1449, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: place_release: Right hand places the white ring onto the leftmost purple peg of the upper wooden rack and releases the grip."}
+{"subtask_index": 1450, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward to approach the left white hexagonal block on the table."}
+{"subtask_index": 1451, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the left white hexagonal block on the table with subtle finger adjustments."}
+{"subtask_index": 1452, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp_lift: Right hand grasps the white hexagonal block on the dark table surface and lifts it off the table."}
+{"subtask_index": 1453, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the purple peg on the wooden base."}
+{"subtask_index": 1454, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the front-left purple peg and inserts it onto the peg with continuous slight downward adjustments."}
+{"subtask_index": 1455, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward from the upper peg assembly area toward the white hexagonal block on the table."}
+{"subtask_index": 1456, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1457, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple peg on the wooden rack."}
+{"subtask_index": 1458, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden rack and inserts it onto the peg."}
+{"subtask_index": 1459, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden rack without moving."}
+{"subtask_index": 1460, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: place_release: Right hand lowers the white ring along the purple rod on the wooden base and releases it."}
+{"subtask_index": 1461, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal block on the black table surface."}
+{"subtask_index": 1462, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with fingers closing around it."}
+{"subtask_index": 1463, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the table surface and transports it upward to the area above the wooden rack's pegs."}
+{"subtask_index": 1464, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle vertical peg of the wooden rack, lowering the block to fit the peg through its central hole."}
+{"subtask_index": 1465, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the green hexagonal block on the middle vertical peg of the wooden rack without moving."}
+{"subtask_index": 1466, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the peg above the green block on the wooden base and releases the block."}
+{"subtask_index": 1467, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table surface below the wooden base."}
+{"subtask_index": 1468, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the table surface."}
+{"subtask_index": 1469, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1470, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and transports it toward the wooden peg board with stacked blocks."}
+{"subtask_index": 1471, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white hexagonal block with a vertical peg on the board and fits it onto the peg."}
+{"subtask_index": 1472, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the peg of the wooden board without moving."}
+{"subtask_index": 1473, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: place_release: Right hand places the white ring onto the purple vertical peg of the wooden base and releases it."}
+{"subtask_index": 1474, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table near the wooden base."}
+{"subtask_index": 1475, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing around it."}
+{"subtask_index": 1476, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}
+{"subtask_index": 1477, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the white cylindrical block from the table surface next to the wooden tray."}
+{"subtask_index": 1478, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: transport: Right hand transports the white cylindrical block to the position above the purple vertical rod on the wooden tray."}
+{"subtask_index": 1479, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod and fits it onto the rod."}
+{"subtask_index": 1480, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white cylindrical block fitted on the purple vertical rod without moving."}
+{"subtask_index": 1481, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand pushes the white hexagonal block down along the purple rod on the wooden base to fit it into assembled position."}
+{"subtask_index": 1482, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: release: Right hand opens its fingers to release the white hexagonal block on the purple rod."}
+{"subtask_index": 1483, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table surface."}
+{"subtask_index": 1484, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand closes its fingers around the white hexagonal block on the table to form a stable grasp."}
+{"subtask_index": 1485, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}
+{"subtask_index": 1486, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the white cubic object with a hole on the table, adjusting fingers to form a stable grip."}
+{"subtask_index": 1487, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the white cubic object off the table and transports it toward the rack with the purple rod."}
+{"subtask_index": 1488, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand aligns the white cubic object with the purple rod on the rack and inserts it onto the rod."}
+{"subtask_index": 1489, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: hold: Right hand holds the white cubic object on the purple rod without moving."}
+{"subtask_index": 1490, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate_release: Right hand mates the purple component into the hole of the rightmost white cylindrical block on the wooden base and releases the component."}
+{"subtask_index": 1491, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: reach: Right hand moves downward and rightward toward the green cubic block on the table surface."}
+{"subtask_index": 1492, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table with fingers adjusting to form a stable grip."}
+{"subtask_index": 1493, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift: Right hand lifts the green cubic block up from the table surface."}
+{"subtask_index": 1494, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: lift_transport: Right hand lifts the green block from the table surface and transports it to the position above the target bottle on the wooden tray."}
+{"subtask_index": 1495, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: mate: Right hand mates the green block with the purple pin on the white bottle by aligning and fitting the block onto the pin."}
+{"subtask_index": 1496, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: release: Right hand releases the green block, with fingers opening and separating from the block."}
+{"subtask_index": 1497, "subtask": "Left hand: idle: Left hand remains empty at the left side of the wooden peg rack without moving. | Right hand: retreat: Right hand retreats upward away from the green block placed on the bottle."}
+{"subtask_index": 1498, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the purple rod on the right side of the wooden base."}
+{"subtask_index": 1499, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the purple rod on the right side of the wooden base."}
+{"subtask_index": 1500, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the grasped purple rod downward to remove it from the hole on the wooden base."}
+{"subtask_index": 1501, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green block on the table surface in front of the wooden base."}
+{"subtask_index": 1502, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and moves it above the target purple peg on the wooden base."}
+{"subtask_index": 1503, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple peg until it is fully seated on the base."}
+{"subtask_index": 1504, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 1505, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the area above the purple peg."}
+{"subtask_index": 1506, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the white hexagonal block with the purple peg, inserts it onto the peg and presses downward to secure the block."}
+{"subtask_index": 1507, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without any movement."}
+{"subtask_index": 1508, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 1509, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 1510, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, adjusting its position to fit properly onto the rod."}
+{"subtask_index": 1511, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block, opening fingers to separate from the block."}
+{"subtask_index": 1512, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white cylindrical block and moves to the position above the purple vertical rod on the wooden base."}
+{"subtask_index": 1513, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple vertical rod and inserts it onto the rod."}
+{"subtask_index": 1514, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block that is already placed on the purple vertical rod."}
+{"subtask_index": 1515, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white cylindrical block on the table in front of the wooden base."}
+{"subtask_index": 1516, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 1517, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and inserts it onto the rod."}
+{"subtask_index": 1518, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the white cylindrical block down onto the purple rod to secure its position."}
+{"subtask_index": 1519, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube placed on the black tabletop."}
+{"subtask_index": 1520, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the green cube on the tabletop, adjusting fingers to form a stable grip."}
+{"subtask_index": 1521, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and moves it toward the pegboard."}
+{"subtask_index": 1522, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the target peg on the pegboard and inserts it to complete assembly."}
+{"subtask_index": 1523, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal block on the table surface."}
+{"subtask_index": 1524, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table surface, with fingers adjusting to form stable contact."}
+{"subtask_index": 1525, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the tabletop and transports it towards the wooden peg board."}
+{"subtask_index": 1526, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the target peg on the wooden board."}
+{"subtask_index": 1527, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand presses the white cylindrical object down onto the peg to complete the assembly."}
+{"subtask_index": 1528, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the stacked blocks on the wooden base."}
+{"subtask_index": 1529, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}
+{"subtask_index": 1530, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1531, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the tabletop and transports it to the area above the purple rod on the wooden rack."}
+{"subtask_index": 1532, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple rod to complete assembly."}
+{"subtask_index": 1533, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white cylindrical block and retreats slightly from the wooden rack."}
+{"subtask_index": 1534, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple peg of the wooden rack."}
+{"subtask_index": 1535, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the black table surface."}
+{"subtask_index": 1536, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1537, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the black table and moves it above the wooden block tray."}
+{"subtask_index": 1538, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylinder into the empty slot on the wooden block tray."}
+{"subtask_index": 1539, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylinder onto the peg of the wooden rack and releases the cylinder."}
+{"subtask_index": 1540, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the table surface."}
+{"subtask_index": 1541, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1542, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the tabletop and transports it towards the wooden rack with white cylinders."}
+{"subtask_index": 1543, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_press: Right hand aligns the green block with the target white post on the wooden rack, inserts it onto the post and presses down to fit the block in position."}
+{"subtask_index": 1544, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves from its initial upper right position downward and leftward toward the green hexagonal block adjacent to the wooden block base, with fingers kept open, remaining empty as it approaches the target block."}
+{"subtask_index": 1545, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table surface, making small finger and wrist adjustments to establish a firm grasp on the block."}
+{"subtask_index": 1546, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no visible movement of the hand, fingers or the grasped block."}
+{"subtask_index": 1547, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp around the green hexagonal block resting on the dark work surface."}
+{"subtask_index": 1548, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the grasped green hexagonal block off the dark work surface and moves it upward to position it above the purple assembly peg."}
+{"subtask_index": 1549, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the green hexagonal block to align with the purple assembly peg, slides the block down the peg to fit onto the assembly."}
+{"subtask_index": 1550, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the green hexagonal block and moves it downward to place it onto the leftmost purple peg of the wooden assembly base."}
+{"subtask_index": 1551, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block that rests on the purple peg."}
+{"subtask_index": 1552, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward empty toward the leftmost white hexagonal block on the black table surface."}
+{"subtask_index": 1553, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand adjusts its finger positions and closes fingers around the leftmost white hexagonal block on the table to form a grip."}
+{"subtask_index": 1554, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand holds the white hexagonal block resting on the black table surface and lifts the block upward until it fully separates from the table."}
+{"subtask_index": 1555, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward to the position directly above the target purple rod on the wooden assembly base."}
+{"subtask_index": 1556, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, slides the block down the rod, and presses the block gently to seat it on the green base block with small grip adjustments during movement."}
+{"subtask_index": 1557, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to seat it on the green base over the purple rod, releasing the block as it becomes fully supported."}
+{"subtask_index": 1558, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty downward to approach the leftmost white hexagonal block resting on the dark table surface."}
+{"subtask_index": 1559, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the leftmost white hexagonal block, making small positional adjustments of the fingers to establish firm contact with the block."}
+{"subtask_index": 1560, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal object off the dark table surface and transports it upward to position the object directly above an empty purple peg on the wooden assembly rack."}
+{"subtask_index": 1561, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white hexagonal object with the empty purple peg on the wooden assembly rack and lowers the object to fit onto the peg, making small adjustments to seat the object properly."}
+{"subtask_index": 1562, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward with open fingers toward the white hexagonal block resting on the table surface in front of the base board."}
+{"subtask_index": 1563, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small positional adjustments of the fingers and wrist to form a stable grip, with the block remaining on the table surface."}
+{"subtask_index": 1564, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal cylinder upward off the dark table surface."}
+{"subtask_index": 1565, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand transports the white hexagonal cylinder upward toward the purple vertical rod mounted on the light wooden base."}
+{"subtask_index": 1566, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns and fits the white hexagonal cylinder onto the purple vertical rod on the light wooden base."}
+{"subtask_index": 1567, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hexagonal cylinder fitted on the purple vertical rod without observable movement."}
+{"subtask_index": 1568, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple rod on the wooden base, opening fingers to release contact with the block."}
+{"subtask_index": 1569, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward toward the left green square block on the dark table surface."}
+{"subtask_index": 1570, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand makes contact with the left green square block on the table, adjusting finger positions and closing fingers to establish a grip on the block."}
+{"subtask_index": 1571, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand holds the green block and lifts it upward until the block fully leaves the dark table surface."}
+{"subtask_index": 1572, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand carries the lifted green block upward to the position above the purple rod on the wooden base."}
+{"subtask_index": 1573, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and fits the block onto the rod."}
+{"subtask_index": 1574, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the green block assembled on the purple rod without visible movement."}
+{"subtask_index": 1575, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the green holed block and moves it downward to place it onto the purple peg on the wooden pegboard, until the block is supported by the peg."}
+{"subtask_index": 1576, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the green holed block seated on the purple peg, fully separating from the block."}
+{"subtask_index": 1577, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves downward with empty fingers toward the white hexagonal holed block on the black work surface, approaching the target block."}
+{"subtask_index": 1578, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the white hexagonal holed block on the work surface, adjusting finger positions to form a stable grasp while the block rests on the surface."}
+{"subtask_index": 1579, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand lifts the grasped white hexagonal holed block upward, moving the block completely off the work surface."}
+{"subtask_index": 1580, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand holds the white hexagonal block, moving upward and leftward to position the block above the purple rod on the wooden stacking base."}
+{"subtask_index": 1581, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand adjusts the position of the held white hexagonal block to align it with the purple rod, lowering the block to fit it onto the rod."}
+{"subtask_index": 1582, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves in a smooth downward-right arc from the top of the stacked wooden peg assembly toward the white hexagonal block on the dark table surface adjacent to the assembly, holding fingers open as it approaches the block."}
+{"subtask_index": 1583, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the contacted white hexagonal block, making small adjustments to finger and wrist position to establish a stable grip, while the block remains resting on the table surface."}
+{"subtask_index": 1584, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand moves vertically upward while maintaining grip on the white hexagonal block, lifting the block fully away from contact with the dark table surface."}
+{"subtask_index": 1585, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: transport: Right hand holds the white cylindrical block and moves it upward toward the purple rod on the wooden base."}
+{"subtask_index": 1586, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod on the wooden base and fits the block down onto the rod."}
+{"subtask_index": 1587, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the white cylindrical block fitted on the purple rod."}
+{"subtask_index": 1588, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves down and right toward the white hexagonal nut on the dark table surface, with fingers held open."}
+{"subtask_index": 1589, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making small adjustments to form a grip while the nut stays on the table."}
+{"subtask_index": 1590, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hollow cylindrical object on the black table surface without moving."}
+{"subtask_index": 1591, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical object off the table surface, moving it upward and leftward to the position directly above the purple rod on the wooden rack."}
+{"subtask_index": 1592, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand aligns the hole of the white hollow cylindrical object with the purple rod, moving the object downward to sleeve it onto the rod until it rests on the supporting base."}
+{"subtask_index": 1593, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: hold: Right hand holds the white hollow cylindrical object sleeved on the purple rod without moving."}
+{"subtask_index": 1594, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place: Right hand holds the white cylindrical block and lowers it downward to place it onto the purple vertical rod on the wooden block base, until the block is supported by the rod."}
+{"subtask_index": 1595, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: release: Right hand opens its fingers to release the placed white cylindrical block, separating the fingers from the block surface."}
+{"subtask_index": 1596, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: reach: Right hand moves empty in the down-right direction toward the green square block resting on the black table surface, approaching the block until the index finger makes contact."}
+{"subtask_index": 1597, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: grasp: Right hand closes its fingers around the green square block on the table, adjusting finger contact positions to form a stable grip on the block."}
+{"subtask_index": 1598, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift: Right hand maintains grip on the green square block and lifts it upward, raising the block completely off the black table surface."}
+{"subtask_index": 1599, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: lift_transport: Right hand holds the green cylindrical block, lifts it off the dark table surface and moves it upward toward the bottle stack on the light wooden base."}
+{"subtask_index": 1600, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: mate: Right hand makes small positional and slight rotational adjustments to the held green cylindrical block to align it for nesting onto the top of the purple-capped white bottle in the stack."}
+{"subtask_index": 1601, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any visible movement. | Right hand: place_release: Right hand lowers the aligned green cylindrical block onto the top of the target bottle until stably supported, opening fingers to release contact with the block."}
+{"subtask_index": 1602, "subtask": "Left hand: other:raise_hand: Left hand moves upward and leftward with empty hand, fingers kept extended. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left front of the wooden board, with empty hand."}
+{"subtask_index": 1603, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block on the left front of the wooden board, with empty hand."}
+{"subtask_index": 1604, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block on the table, adjusting the grip slightly."}
+{"subtask_index": 1605, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward from the table surface."}
+{"subtask_index": 1606, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the left side of the table, with fingers closing to form a stable grip while the block stays on the table surface."}
+{"subtask_index": 1607, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table surface and moves it to the position above the leftmost purple peg of the wooden base."}
+{"subtask_index": 1608, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple peg of the wooden base, moving downward to fit the block's hole onto the peg."}
+{"subtask_index": 1609, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the leftmost purple peg of the wooden base without moving."}
+{"subtask_index": 1610, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand fits and adjusts blocks onto the leftmost purple peg of the wooden base."}
+{"subtask_index": 1611, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left area of the black table."}
+{"subtask_index": 1612, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the left area of the black table with fingers closing."}
+{"subtask_index": 1613, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the table and transports it upward to the position above the purple peg on the peg board."}
+{"subtask_index": 1614, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut onto the purple peg by aligning and lowering it down the peg."}
+{"subtask_index": 1615, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple peg without moving."}
+{"subtask_index": 1616, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white ring with the left purple peg on the wooden base and releases it."}
+{"subtask_index": 1617, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hex ring on the left side of the work surface."}
+{"subtask_index": 1618, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hex ring on the work surface, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1619, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hex ring on the work surface without moving."}
+{"subtask_index": 1620, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hex ring upward from the work surface."}
+{"subtask_index": 1621, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it upward to the position above the target peg on the wooden base."}
+{"subtask_index": 1622, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the target peg by lowering and fitting it onto the peg."}
+{"subtask_index": 1623, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the peg without moving."}
+{"subtask_index": 1624, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the white hexagonal block down onto the leftmost purple peg."}
+{"subtask_index": 1625, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release_reach: Right hand releases the white hexagonal block on the leftmost purple peg and moves downward toward the white hexagonal block on the table."}
+{"subtask_index": 1626, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing to form a stable grip."}
+{"subtask_index": 1627, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table without moving."}
+{"subtask_index": 1628, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1629, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal block off the table surface and transports it upward to the position above the purple pegs on the wooden base."}
+{"subtask_index": 1630, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal block onto a purple peg by aligning the block's hole with the peg and lowering the block downward."}
+{"subtask_index": 1631, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white hexagonal holed block onto the purple vertical peg and releases its grip on the block."}
+{"subtask_index": 1632, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the green hexagonal holed block on the dark table surface without making contact."}
+{"subtask_index": 1633, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal holed block on the dark table surface."}
+{"subtask_index": 1634, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it to the position above the white peg on the wooden base."}
+{"subtask_index": 1635, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the white peg, lowering it until the block rests on the lower section of the peg."}
+{"subtask_index": 1636, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green hexagonal block on the peg, with fingers opening to separate from the block."}
+{"subtask_index": 1637, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward from the upper block assembly area toward the white hexagonal block on the table."}
+{"subtask_index": 1638, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to adjust the grip."}
+{"subtask_index": 1639, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylinder on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1640, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it upward and leftward to the area above the purple rod on the wooden base."}
+{"subtask_index": 1641, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white hollow cylinder with the purple rod and fits it down onto the rod to complete the assembly."}
+{"subtask_index": 1642, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the purple rod without moving."}
+{"subtask_index": 1643, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal sleeve onto the green post of the central block set and releases it."}
+{"subtask_index": 1644, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal sleeve on the table near the central block set."}
+{"subtask_index": 1645, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal sleeve on the table near the central block set, with fingers closing to form a stable grip."}
+{"subtask_index": 1646, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal sleeve off the table and moves it leftward."}
+{"subtask_index": 1647, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal column on the table to the right of the wooden base, adjusting fingers to form a stable grip."}
+{"subtask_index": 1648, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal column off the table and transports it upward and leftward to the position directly above the purple rod."}
+{"subtask_index": 1649, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal column onto the purple rod by aligning the hole with the rod and lowering the column downward along the rod."}
+{"subtask_index": 1650, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple rod of the wooden base, with fingers opening from a closed position."}
+{"subtask_index": 1651, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block on the table, moving downward from the wooden base area."}
+{"subtask_index": 1652, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white cubic object on the table, with fingers adjusting to stabilize the grip."}
+{"subtask_index": 1653, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic object off the table and transports it toward the wooden rack with stacked blocks."}
+{"subtask_index": 1654, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white cubic object with the purple rod on the wooden rack and inserts it to complete the assembly."}
+{"subtask_index": 1655, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand reaches towards the green cube on the dark table surface."}
+{"subtask_index": 1656, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp_lift: Right hand grasps the green cube on the dark table surface and lifts it slightly off the table."}
+{"subtask_index": 1657, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hollow block on the dark table surface, with fingers closing to form a stable grip."}
+{"subtask_index": 1658, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow block off the table and transports it upward and leftward toward the white block tray."}
+{"subtask_index": 1659, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green hollow block with the white post on the tray and lowers it onto the top of the post."}
+{"subtask_index": 1660, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: press: Right hand presses the green hollow block downward along the white post to push it into place."}
+{"subtask_index": 1661, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube at the front left of the wooden base on the table."}
+{"subtask_index": 1662, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to establish stable grasp on the green cube at the front left of the wooden base."}
+{"subtask_index": 1663, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green block vertically away from the black tabletop."}
+{"subtask_index": 1664, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block upward to the position above the target purple peg on the wooden base."}
+{"subtask_index": 1665, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple peg and inserts it down onto the peg to complete assembly."}
+{"subtask_index": 1666, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down onto the purple rod of the wooden base."}
+{"subtask_index": 1667, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal block on the desktop."}
+{"subtask_index": 1668, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the desktop."}
+{"subtask_index": 1669, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black tabletop and transports it to above the purple peg on the wooden base."}
+{"subtask_index": 1670, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg and inserts it onto the peg to complete assembly."}
+{"subtask_index": 1671, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the leftmost purple rod on the wooden base."}
+{"subtask_index": 1672, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand approaches the white hexagonal block, fingers close to establish grasp on the block."}
+{"subtask_index": 1673, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 1674, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden base and inserts it onto the rod."}
+{"subtask_index": 1675, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward to reach the white cylindrical block placed on the table in front of the wooden base."}
+{"subtask_index": 1676, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block up away from the table surface."}
+{"subtask_index": 1677, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the white block to the position above the purple peg on the wooden rack."}
+{"subtask_index": 1678, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white block with the purple peg and inserts it down onto the peg."}
+{"subtask_index": 1679, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white block on the purple peg without moving."}
+{"subtask_index": 1680, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the green square block on the table surface."}
+{"subtask_index": 1681, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green square block on the table surface."}
+{"subtask_index": 1682, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it to the position above the white post on the wooden base."}
+{"subtask_index": 1683, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the white post and fits it down onto the post to complete assembly."}
+{"subtask_index": 1684, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block that is fitted on the white post without moving."}
+{"subtask_index": 1685, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block placed on the black tabletop."}
+{"subtask_index": 1686, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow block on the black tabletop."}
+{"subtask_index": 1687, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylinder completely off the black table surface."}
+{"subtask_index": 1688, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the held white cylinder toward the target peg on the wooden base with blocks."}
+{"subtask_index": 1689, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cylinder onto the target peg and adjusts it to be stably positioned on the peg."}
+{"subtask_index": 1690, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical sleeve onto the top of the green block on the wooden base plate."}
+{"subtask_index": 1691, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white cylindrical sleeve placed on the black table next to the wooden base plate."}
+{"subtask_index": 1692, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical sleeve on the black table."}
+{"subtask_index": 1693, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and transports it above the purple rod on the wooden rack."}
+{"subtask_index": 1694, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the purple rod on the wooden rack."}
+{"subtask_index": 1695, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical object placed on the purple rod."}
+{"subtask_index": 1696, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hollow cylindrical block on the table."}
+{"subtask_index": 1697, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical block on the table, adjusting fingers to form a stable grip."}
+{"subtask_index": 1698, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it towards the wooden block rack at the center of the frame."}
+{"subtask_index": 1699, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the target peg on the wooden block rack."}
+{"subtask_index": 1700, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the wooden block rack without moving."}
+{"subtask_index": 1701, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the small cylindrical part on the top of the white block on the wooden tray and releases its grip."}
+{"subtask_index": 1702, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty towards the green cubic block on the dark table surface."}
+{"subtask_index": 1703, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grip on the green cubic block on the dark table surface."}
+{"subtask_index": 1704, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic object off the table surface."}
+{"subtask_index": 1705, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green cubic object towards the white cylinder rack."}
+{"subtask_index": 1706, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic object onto the top of the target white cylinder on the wooden rack."}
+{"subtask_index": 1707, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves leftward and downward from its initial raised position on the right side toward the green hexagonal block on the table in front of the wooden assembly base, with fingers held open during the movement."}
+{"subtask_index": 1708, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the green hexagonal block on the table in front of the wooden assembly base, making slight adjustments to finger and wrist positions to establish a grip, with the block remaining on the table surface."}
+{"subtask_index": 1709, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the grasped green hexagonal block vertically upward until the block is fully lifted off the black table surface."}
+{"subtask_index": 1710, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport_mate: Right hand carries the lifted green hexagonal block over to the wooden base, aligns the block's central hole with the left purple peg, and slides the block down onto the peg to complete fitting."}
+{"subtask_index": 1711, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the fitted green hexagonal block on the left purple peg of the wooden base without any observable movement."}
+{"subtask_index": 1712, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand holds the green hexagonal block, moves downward to place the block onto the purple peg on the wooden base, opening fingers to release the block once it is supported by the base."}
+{"subtask_index": 1713, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward from the wooden base area toward the white hexagonal block resting on the dark table surface, approaching the target object without establishing contact."}
+{"subtask_index": 1714, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, adjusting finger and wrist positions to establish a stable grip on the block."}
+{"subtask_index": 1715, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand holds the white hexagonal nut resting on the black tabletop and lifts it upward until the nut is fully separated from the table surface."}
+{"subtask_index": 1716, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward to the position directly above the purple assembly rod on the wooden base."}
+{"subtask_index": 1717, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and slides the nut down the rod to complete the fitting."}
+{"subtask_index": 1718, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the fitted white hexagonal nut on the purple rod without observable movement or adjustment."}
+{"subtask_index": 1719, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand holds the white hexagonal block, aligns it with the purple rod on the wooden assembly base and moves it downward to fit onto the rod."}
+{"subtask_index": 1720, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves downward empty away from the wooden base, approaching the white hexagonal block placed on the dark table surface."}
+{"subtask_index": 1721, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closing and adjusting fingers to establish a firm grip on the block."}
+{"subtask_index": 1722, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach_grasp: Right hand moves toward the white hexagonal nut on the dark table surface, closes fingers to grasp the nut while the nut stays on the table."}
+{"subtask_index": 1723, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface, moves it upward to position it directly above the purple post on the wooden block base."}
+{"subtask_index": 1724, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post, lowers the nut to fit it onto the post for nesting assembly."}
+{"subtask_index": 1725, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place: Right hand holds the white hexagonal block and moves downward to place it onto the green block on the leftmost peg of the wooden base, until the block is stably supported by the green block."}
+{"subtask_index": 1726, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty in a downward-right direction toward the white hexagonal block placed on the table surface in front of the wooden base."}
+{"subtask_index": 1727, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes fine adjustments to finger positions, closing fingers around the target white hexagonal block on the table, with continuous small wrist and finger movements to adjust contact points for a stable grasp."}
+{"subtask_index": 1728, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table surface and transports it to a position directly above the purple peg on the wooden base."}
+{"subtask_index": 1729, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden base and lowers it to fit securely onto the peg."}
+{"subtask_index": 1730, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to set the block onto the purple rod on the wooden base, and opens fingers to release grip on the block."}
+{"subtask_index": 1731, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the green hexagonal block resting on the dark table surface."}
+{"subtask_index": 1732, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusting finger positions to close around the block to form a grip."}
+{"subtask_index": 1733, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table surface and moves it upward to position it directly above the purple vertical rod on the wooden base."}
+{"subtask_index": 1734, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical rod and lowers the block to slide it onto the rod until it contacts the white component below."}
+{"subtask_index": 1735, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple vertical rod without any observable movement."}
+{"subtask_index": 1736, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand lowers the held green hexagonal block to seat it on the stacked blocks mounted on the wooden peg base, opening fingers to release the supported block."}
+{"subtask_index": 1737, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves in an empty state downward toward the white hexagonal block resting on the dark table surface."}
+{"subtask_index": 1738, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block positioned on the table, adjusting finger contact points to form a grip on the block."}
+{"subtask_index": 1739, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and transports it upward toward the wooden assembly base."}
+{"subtask_index": 1740, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal block with the purple vertical rod on the assembly base and lowers it to fit onto the rod."}
+{"subtask_index": 1741, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any visible movement of the hand or the block."}
+{"subtask_index": 1742, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand releases the white hexagonal block on top of the stacked blocks, fingers opening to separate from the block."}
+{"subtask_index": 1743, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and to the right toward the white hexagonal block adjacent to the wooden block base."}
+{"subtask_index": 1744, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block adjacent to the wooden block base, adjusting finger positions to form a grip."}
+{"subtask_index": 1745, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the purple rod mounted on the wooden base."}
+{"subtask_index": 1746, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and moves it downward to fit the nut onto the rod."}
+{"subtask_index": 1747, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate_release: Right hand holds the white hexagonal block, fits it onto the purple rod on the wooden base, and opens fingers to release the block."}
+{"subtask_index": 1748, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward to approach the white hexagonal block on the black table surface."}
+{"subtask_index": 1749, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to form a stable grip."}
+{"subtask_index": 1750, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand moves the grasped white hexagonal block upward to lift it off the table surface."}
+{"subtask_index": 1751, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand holds the small white cylindrical part and moves it upward and left toward the empty hole on the wooden block rack."}
+{"subtask_index": 1752, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the small white cylindrical part with the empty hole on the wooden rack and inserts it into the hole."}
+{"subtask_index": 1753, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: hold: Right hand holds the inserted white cylindrical part on the wooden rack without moving."}
+{"subtask_index": 1754, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: release: Right hand releases the light purple cylinder on the wooden rack, fingers open and separate from the cylinder."}
+{"subtask_index": 1755, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: reach: Right hand moves empty downward and rightward toward the green cube on the dark table surface."}
+{"subtask_index": 1756, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: grasp: Right hand makes contact with the green cube, fingers adjust positions around the cube to form a stable grasp."}
+{"subtask_index": 1757, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: lift: Right hand lifts the gripped green block vertically upward from the dark gray table surface."}
+{"subtask_index": 1758, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: transport: Right hand transports the green block upward and leftward toward the group of bottles placed on the light wooden tray."}
+{"subtask_index": 1759, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: mate: Right hand aligns the hollow green block with the top of the bottle with a purple pump, adjusting position to fit the block onto the bottle."}
+{"subtask_index": 1760, "subtask": "Left hand: idle: Left hand stays empty and stationary on the left side of the table without any observable movement or contact with objects. | Right hand: place_release: Right hand places the green block onto the top of the target bottle with fingers opening to release the block."}
+{"subtask_index": 1761, "subtask": "Left hand: other:raise_arm: Left hand raises upward with empty hand from the left initial position. | Right hand: reach: Right hand moves toward the green hexagonal block on the table near the wooden pegboard with empty hand."}
+{"subtask_index": 1762, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves toward the green hexagonal block on the table near the wooden pegboard with empty hand."}
+{"subtask_index": 1763, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1764, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table in front of the wooden board."}
+{"subtask_index": 1765, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it to above the leftmost purple peg on the wooden board."}
+{"subtask_index": 1766, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the green cubic block onto the leftmost purple peg of the wooden board by lowering and fitting it onto the peg."}
+{"subtask_index": 1767, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green cubic block on the leftmost purple peg of the wooden board without moving."}
+{"subtask_index": 1768, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand fits the green hexagonal block onto the left purple vertical post and releases its grip."}
+{"subtask_index": 1769, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: retreat: Right hand moves upward slightly away from the green block on the purple post."}
+{"subtask_index": 1770, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the left side of the black table."}
+{"subtask_index": 1771, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the white hexagonal block on the table."}
+{"subtask_index": 1772, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table with fingers closing to form a stable grip."}
+{"subtask_index": 1773, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table while moving it upward to the position above the leftmost purple peg on the green base."}
+{"subtask_index": 1774, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_place: Right hand fits the white hexagonal block onto the leftmost purple peg while lowering it until it is supported by the green base."}
+{"subtask_index": 1775, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden base."}
+{"subtask_index": 1776, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white hexagonal piece on the leftmost purple peg, with fingers opening."}
+{"subtask_index": 1777, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal piece on the black table surface."}
+{"subtask_index": 1778, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the left white hexagonal piece on the table, with fingers closing around it."}
+{"subtask_index": 1779, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the left white hexagonal piece on the table without moving."}
+{"subtask_index": 1780, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal piece from the black table and transports it upward to the position above the leftmost purple peg on the wooden rack."}
+{"subtask_index": 1781, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hexagonal piece onto the leftmost purple peg of the wooden rack by aligning and inserting it downward."}
+{"subtask_index": 1782, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the left purple peg without moving."}
+{"subtask_index": 1783, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block on the left purple peg while moving upward away from the peg."}
+{"subtask_index": 1784, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table above the green block."}
+{"subtask_index": 1785, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table above the green block with fingers closing."}
+{"subtask_index": 1786, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table above the green block without moving."}
+{"subtask_index": 1787, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table, fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 1788, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward until it is fully off the dark table surface."}
+{"subtask_index": 1789, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and toward the middle purple peg on the wooden base."}
+{"subtask_index": 1790, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the middle purple peg and lowers the block to fit onto the peg."}
+{"subtask_index": 1791, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the middle purple peg and releases the block."}
+{"subtask_index": 1792, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the dark table surface."}
+{"subtask_index": 1793, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers closing and adjusting around it."}
+{"subtask_index": 1794, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift: Right hand lifts the green cubic block upward off the dark table surface."}
+{"subtask_index": 1795, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: transport: Right hand transports the green cubic block upward and leftward to the position above the vertical peg on the wooden rack."}
+{"subtask_index": 1796, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand lowers the green cubic block and mates it onto the vertical peg of the wooden rack."}
+{"subtask_index": 1797, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the green cubic block on the vertical peg of the wooden rack without moving."}
+{"subtask_index": 1798, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple vertical post on the wooden base and releases the block."}
+{"subtask_index": 1799, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1800, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table surface with fingers closing to adjust the grip."}
+{"subtask_index": 1801, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it towards the wooden base with pegs."}
+{"subtask_index": 1802, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hollow cylinder with the green block's peg on the wooden base, lowering the cylinder onto the peg."}
+{"subtask_index": 1803, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hollow cylinder fitted on the green block's peg without moving."}
+{"subtask_index": 1804, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white cylindrical block on the top of the purple rod, with fingers opening gradually."}
+{"subtask_index": 1805, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the black table surface."}
+{"subtask_index": 1806, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing and adjusting around the block."}
+{"subtask_index": 1807, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: hold: Right hand holds the white hollow cylindrical block on the black tabletop next to the wooden base without moving."}
+{"subtask_index": 1808, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylindrical block from the tabletop and transports it upward and leftward to the position right above the purple rod on the wooden base."}
+{"subtask_index": 1809, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand mates the white hollow cylindrical block with the purple rod by lowering it to fit the block's hole over the purple rod."}
+{"subtask_index": 1810, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white cylindrical piece on the purple rod of the wooden rack, with fingers opening."}
+{"subtask_index": 1811, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal piece on the table surface."}
+{"subtask_index": 1812, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1813, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it toward the wooden peg rack at the back of the table."}
+{"subtask_index": 1814, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the rightmost peg of the wooden rack and fits it onto the peg."}
+{"subtask_index": 1815, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: release: Right hand releases the white cylindrical block on the rightmost peg, with fingers opening to separate from the block."}
+{"subtask_index": 1816, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: reach: Right hand moves downward from the bottle rack area toward the green cubic object on the table, without making contact with the target."}
+{"subtask_index": 1817, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: grasp: Right hand makes contact with the green cubic object on the table, and adjusts its fingers to form a stable grasp."}
+{"subtask_index": 1818, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the white rack with bottles."}
+{"subtask_index": 1819, "subtask": "Left hand: idle: Left hand remains empty at the upper left position without moving. | Right hand: mate_release: Right hand aligns and fits the green cubic block onto the target bottle on the rack, then releases the block."}
+{"subtask_index": 1820, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the purple rod on the central wooden base."}
+{"subtask_index": 1821, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the purple rod on the central wooden base."}
+{"subtask_index": 1822, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the grasped purple rod upwards."}
+{"subtask_index": 1823, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block from the tabletop and transports it above the purple post on the wooden base."}
+{"subtask_index": 1824, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the purple post and inserts it partially onto the post."}
+{"subtask_index": 1825, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press: Right hand presses the green block down along the purple post to secure it in place."}
+{"subtask_index": 1826, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hexagonal block placed on the table."}
+{"subtask_index": 1827, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with slight finger adjustments to stabilize the grip."}
+{"subtask_index": 1828, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post on the wooden base."}
+{"subtask_index": 1829, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it onto the post."}
+{"subtask_index": 1830, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the white hexagonal block on the black table surface."}
+{"subtask_index": 1831, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal component off the table and transports it towards the wooden peg rack at the upper center of the frame."}
+{"subtask_index": 1832, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reorient: Right hand rotates the white hexagonal component slightly to align it with the peg on the wooden rack."}
+{"subtask_index": 1833, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white hexagonal component onto the aligned peg of the wooden rack."}
+{"subtask_index": 1834, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the leftmost peg of the wooden base."}
+{"subtask_index": 1835, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the tabletop in front of the wooden base."}
+{"subtask_index": 1836, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block, fingers adjust to form a stable grasp."}
+{"subtask_index": 1837, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod fixed on the wooden base."}
+{"subtask_index": 1838, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the green block placed on the tabletop."}
+{"subtask_index": 1839, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the tabletop with fingers closing around it."}
+{"subtask_index": 1840, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward away from the tabletop."}
+{"subtask_index": 1841, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block towards the purple peg on the wooden rack."}
+{"subtask_index": 1842, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the purple peg on the wooden rack."}
+{"subtask_index": 1843, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without moving."}
+{"subtask_index": 1844, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the purple peg of the wooden base."}
+{"subtask_index": 1845, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white hexagonal block placed on the table."}
+{"subtask_index": 1846, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand closes fingers to grasp the white hexagonal block on the table and lifts it slightly off the table surface."}
+{"subtask_index": 1847, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the target post on the wooden assembly rack."}
+{"subtask_index": 1848, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto the target post of the wooden assembly rack."}
+{"subtask_index": 1849, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical object on the wooden assembly rack without moving."}
+{"subtask_index": 1850, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the green block on the wooden base."}
+{"subtask_index": 1851, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white cylindrical block on the right side of the table."}
+{"subtask_index": 1852, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table."}
+{"subtask_index": 1853, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and moves it towards the wooden rack."}
+{"subtask_index": 1854, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the top of the purple rod on the wooden rack."}
+{"subtask_index": 1855, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the black table surface."}
+{"subtask_index": 1856, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the black table surface."}
+{"subtask_index": 1857, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the table and moves it towards the wooden rack."}
+{"subtask_index": 1858, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with the purple rod on the wooden rack and inserts it into position."}
+{"subtask_index": 1859, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylinder onto the purple peg on the wooden base."}
+{"subtask_index": 1860, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block placed on the table surface."}
+{"subtask_index": 1861, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green cubic block on the table surface."}
+{"subtask_index": 1862, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block away from the table surface."}
+{"subtask_index": 1863, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the rightmost white peg on the wooden base."}
+{"subtask_index": 1864, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green block with the rightmost white peg and fits it onto the peg to complete assembly."}
+{"subtask_index": 1865, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves forward and downward from its initial position, extending fingers to approach the green hexagonal block on the table in front of the wooden peg board."}
+{"subtask_index": 1866, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block, making slight adjustments to finger and wrist positions to establish contact with the block."}
+{"subtask_index": 1867, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the table steadily, with no observable movement of the hand, fingers or the grasped block."}
+{"subtask_index": 1868, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the table surface."}
+{"subtask_index": 1869, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport_place: Right hand carries the lifted green hexagonal block to the position above the purple peg on the wooden board, then moves downward to set the block onto the peg until the block is supported by the peg."}
+{"subtask_index": 1870, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg steadily, with no observable movement of the hand, fingers or the block."}
+{"subtask_index": 1871, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand lowers the white hexagonal block along the purple peg on the wooden pegboard, fitting the block securely into the stacked assembly on the peg."}
+{"subtask_index": 1872, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the pegboard area toward the loose white hexagonal block resting on the black table surface, approaching the target block without establishing contact."}
+{"subtask_index": 1873, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the target white hexagonal block on the table to establish a stable grasp, with the block remaining on the table surface throughout the adjustment."}
+{"subtask_index": 1874, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand grips the white hexagonal block on the black table surface, lifts it fully off the table, and carries it upward to the position above the purple rod on the wooden base."}
+{"subtask_index": 1875, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod, slightly adjusts the block's orientation, and lowers it to fit securely onto the rod."}
+{"subtask_index": 1876, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple rod without any observable movement or grip adjustment."}
+{"subtask_index": 1877, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_release: Right hand holds the white hexagonal block, aligns and nests it onto the purple vertical post, opens fingers to release the block and separate from the assembled part."}
+{"subtask_index": 1878, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward with empty fingers toward the front-left white hexagonal block on the black table."}
+{"subtask_index": 1879, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the front-left white hexagonal block on the table, adjusting finger positions to establish a stable grip."}
+{"subtask_index": 1880, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table, moving it upward toward the purple assembly rod on the wooden rack."}
+{"subtask_index": 1881, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod on the wooden rack, adjusting position to fit the block onto the rod."}
+{"subtask_index": 1882, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: press_release: Right hand presses down on the upper white hexagonal block on the front purple post to seat it fully against lower blocks, fingers opening to lose contact with the block."}
+{"subtask_index": 1883, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block positioned directly in front of the wooden base."}
+{"subtask_index": 1884, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block, making small adjustments to establish a stable grip."}
+{"subtask_index": 1885, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the front white hexagonal block steadily with no observable movement of the hand, fingers or the block."}
+{"subtask_index": 1886, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block resting on the black table adjacent to the wooden assembly base to form a stable grip."}
+{"subtask_index": 1887, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the black table surface and moves it upward to a position directly above the target purple peg on the wooden assembly base."}
+{"subtask_index": 1888, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target purple peg and lowers the block to fit securely onto the peg."}
+{"subtask_index": 1889, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the fitted white hexagonal block steady on the purple peg with no observable movement of the hand or block."}
+{"subtask_index": 1890, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the green hexagonal block on the adjacent table surface, staying empty before contact with the block."}
+{"subtask_index": 1891, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block on the table, adjusts finger positions and closes fingers around the block to establish a grasp, with the block remaining on the table surface."}
+{"subtask_index": 1892, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table surface and moves it upward to position directly above the purple rod on the wooden assembly base."}
+{"subtask_index": 1893, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate_place: Right hand aligns the central hole of the green hexagonal block with the purple rod, lowers the block to fit onto the rod and set it onto the underlying supporting white block."}
+{"subtask_index": 1894, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green hexagonal block stably fitted on the purple rod without any observable movement."}
+{"subtask_index": 1895, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens fingers to release the green block on the purple rod of the wooden assembly, separating fingers from the block."}
+{"subtask_index": 1896, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward toward the green hexagonal block resting on the dark table surface, with fingers held open."}
+{"subtask_index": 1897, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand positions fingers around the green hexagonal block on the table and makes small adjustments to close fingers to establish a grip."}
+{"subtask_index": 1898, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift_transport: Right hand lifts the grasped white cylindrical block completely off the table and moves it upward toward the purple vertical rod on the wooden block assembly."}
+{"subtask_index": 1899, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the purple rod and lowers the block to fit onto the rod."}
+{"subtask_index": 1900, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the mated white cylindrical block on the purple rod without any observable movement."}
+{"subtask_index": 1901, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: release: Right hand opens its fingers to release the white cylindrical block fitted on the purple rod."}
+{"subtask_index": 1902, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal nut near the right edge of the wooden block base, with fingers open and no contact with the nut."}
+{"subtask_index": 1903, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to form a grip on the nut while the nut remains on the table surface."}
+{"subtask_index": 1904, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface."}
+{"subtask_index": 1905, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand moves the lifted white hexagonal block upward to the position directly above the purple rod on the wooden block base."}
+{"subtask_index": 1906, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod, adjusting position slightly to fit the block onto the rod."}
+{"subtask_index": 1907, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves down and right from the area above the wooden block set toward the white hexagonal object resting on the black table surface, staying empty before making contact with the target."}
+{"subtask_index": 1908, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal object on the table, making small positional adjustments of the fingers and wrist to form a stable grip on the object."}
+{"subtask_index": 1909, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the white hexagonal object on the black table surface without any visible movement of the hand, fingers or the gripped object."}
+{"subtask_index": 1910, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand maintains grip on the white hollow cylinder and moves upward, lifting the cylinder completely off the dark work surface."}
+{"subtask_index": 1911, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the white hollow cylinder diagonally upward through the air toward the wooden block assembly stand."}
+{"subtask_index": 1912, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand slightly adjusts the position of the white hollow cylinder to align it with the empty mounting position next to the purple rod on the wooden stand."}
+{"subtask_index": 1913, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: place_release: Right hand lowers the white cylindrical block onto the purple peg on the wooden base, opening fingers to release the block."}
+{"subtask_index": 1914, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: reach: Right hand moves downward and rightward toward the green cube resting on the black table surface."}
+{"subtask_index": 1915, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: grasp: Right hand closes fingers around the green cube on the table, adjusting finger positions to form a stable grip."}
+{"subtask_index": 1916, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: hold: Right hand holds the green block on the dark gray table surface with no visible movement."}
+{"subtask_index": 1917, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: lift: Right hand moves upward to lift the green block completely off the dark gray table surface."}
+{"subtask_index": 1918, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: transport: Right hand carries the lifted green block upward and toward the wooden block rack at the center of the table."}
+{"subtask_index": 1919, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any observable movement. | Right hand: mate: Right hand aligns the green block with the target white post on the rack and fits the block onto the post, making small positional adjustments to seat the block."}
+{"subtask_index": 1920, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green ring on the leftmost purple pole, moving from the right side of the table."}
+{"subtask_index": 1921, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the leftmost purple pole, with fingers closing around the ring to form a stable grip."}
+{"subtask_index": 1922, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: push: Right hand pushes the green ring along the leftmost purple pole away from itself, moving the ring toward the wooden base."}
+{"subtask_index": 1923, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1924, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the black table surface to the position above the leftmost purple peg on the wooden base."}
+{"subtask_index": 1925, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block with the leftmost purple peg on the wooden base by lowering and aligning it onto the peg."}
+{"subtask_index": 1926, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the leftmost purple peg without moving."}
+{"subtask_index": 1927, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical object onto the purple peg and releases the object."}
+{"subtask_index": 1928, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the dark table with an empty hand."}
+{"subtask_index": 1929, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the dark table with fingers closing around it."}
+{"subtask_index": 1930, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the table and transports it upward and backward to the position above the leftmost purple peg."}
+{"subtask_index": 1931, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal object onto the leftmost purple peg by lowering it and fitting the hole over the peg."}
+{"subtask_index": 1932, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal object on the leftmost purple peg without moving."}
+{"subtask_index": 1933, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece on the leftmost purple peg of the pegboard, with fingers opening from a closed position."}
+{"subtask_index": 1934, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward and leftward from the pegboard area toward the white hexagonal piece on the table, empty."}
+{"subtask_index": 1935, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal piece on the table, with fingers closing around the piece to form a stable grip."}
+{"subtask_index": 1936, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal piece on the table without moving."}
+{"subtask_index": 1937, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical object on the black table, adjusting fingers to form a stable grip."}
+{"subtask_index": 1938, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it towards the test tube rack at the back of the frame."}
+{"subtask_index": 1939, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the leftmost purple rod of the test tube rack, lowering it to fit into place."}
+{"subtask_index": 1940, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical object on the leftmost purple rod of the test tube rack without moving."}
+{"subtask_index": 1941, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the middle purple rod of the wooden board and releases the block with fingers opening."}
+{"subtask_index": 1942, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden board."}
+{"subtask_index": 1943, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table in front of the wooden board, with fingers closing around the block."}
+{"subtask_index": 1944, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table in front of the wooden board without moving."}
+{"subtask_index": 1945, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical part on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1946, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical part off the table and moves it to the position above the purple peg."}
+{"subtask_index": 1947, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical part with the purple peg and fits it down onto the peg."}
+{"subtask_index": 1948, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical part on the purple peg without moving."}
+{"subtask_index": 1949, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the middle post of the wooden base, releasing the grip."}
+{"subtask_index": 1950, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the left green cubic block on the black table surface."}
+{"subtask_index": 1951, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the left green cubic block on the table with fingers closing and adjusting."}
+{"subtask_index": 1952, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the left green cubic block upward away from the table surface."}
+{"subtask_index": 1953, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the black table and transports it to the position above the middle purple peg on the wooden board."}
+{"subtask_index": 1954, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle purple peg, lowering it along the peg until it reaches the white block below."}
+{"subtask_index": 1955, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the middle purple peg without moving."}
+{"subtask_index": 1956, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the vertical purple peg on the wooden base."}
+{"subtask_index": 1957, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, fingers open and separate from the block."}
+{"subtask_index": 1958, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}
+{"subtask_index": 1959, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, fingers closing around the block."}
+{"subtask_index": 1960, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp_lift: Right hand grasps and lifts the white hollow block from the black ground."}
+{"subtask_index": 1961, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block toward the purple rod on the wooden board."}
+{"subtask_index": 1962, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block with the purple rod by aligning its hole and lowering it onto the rod."}
+{"subtask_index": 1963, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow cylindrical object onto the green post on the wooden base and releases the object."}
+{"subtask_index": 1964, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the white hollow cylindrical object on the dark table surface."}
+{"subtask_index": 1965, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow cylindrical object on the dark table surface with fingers closing around it."}
+{"subtask_index": 1966, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers slightly adjusting to stabilize the grip."}
+{"subtask_index": 1967, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it to the position above the purple rod on the wooden tray."}
+{"subtask_index": 1968, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block with the purple rod by aligning and inserting it onto the rod."}
+{"subtask_index": 1969, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical block on the purple rod without moving."}
+{"subtask_index": 1970, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white object on the purple rod of the wooden pallet, with fingers opening gradually."}
+{"subtask_index": 1971, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers closing to form a stable grip."}
+{"subtask_index": 1972, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it to the position above the purple rod on the wooden board."}
+{"subtask_index": 1973, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object with the purple rod on the wooden board, lowering it onto the rod to complete the fitting."}
+{"subtask_index": 1974, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the purple rod into the top of the rightmost white bottle on the wooden base and releases the purple rod."}
+{"subtask_index": 1975, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the green cubic block on the table with fingers slightly open."}
+{"subtask_index": 1976, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 1977, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the dark table surface and moves it toward the white bottle with a thin rod on the wooden tray."}
+{"subtask_index": 1978, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green cubic block with the thin rod on the white bottle and lowers the block onto the bottle."}
+{"subtask_index": 1979, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves towards the green hexagonal block located on the left side of the scattered blocks in front of the wooden peg rack."}
+{"subtask_index": 1980, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts and adjusts fingers to grasp the green hexagonal block on the black table surface."}
+{"subtask_index": 1981, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the grasped green block upwards away from the table surface."}
+{"subtask_index": 1982, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport_mate: Right hand transports the green block to the position above the purple peg and inserts it onto the peg."}
+{"subtask_index": 1983, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green block onto the leftmost purple rod of the wooden base."}
+{"subtask_index": 1984, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the black tabletop."}
+{"subtask_index": 1985, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 1986, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal object from the tabletop and transports it towards the purple rod on the wooden base."}
+{"subtask_index": 1987, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal object onto the target purple rod of the wooden base."}
+{"subtask_index": 1988, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: hold: Right hand holds the white hexagonal object on the purple rod without moving."}
+{"subtask_index": 1989, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod on the wooden base."}
+{"subtask_index": 1990, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}
+{"subtask_index": 1991, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 1992, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it towards the wooden base with purple rods."}
+{"subtask_index": 1993, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the top of the target purple rod on the wooden base."}
+{"subtask_index": 1994, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white cube onto the top of the purple rod on the wooden base."}
+{"subtask_index": 1995, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white cube on the table in front of the wooden base."}
+{"subtask_index": 1996, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand contacts the white cube on the table and adjusts fingers to form a stable grip."}
+{"subtask_index": 1997, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the black table surface and transports it to above the purple peg on the wooden base."}
+{"subtask_index": 1998, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by pressing it down to fit onto the peg."}
+{"subtask_index": 1999, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white hexagonal block onto the purple rod on the wooden base."}
+{"subtask_index": 2000, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves down towards the green hexagonal block on the black table surface."}
+{"subtask_index": 2001, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table surface with slight finger adjustments."}
+{"subtask_index": 2002, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the green block off the black table and transports it towards the wooden peg rack."}
+{"subtask_index": 2003, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green block onto the target peg of the wooden rack."}
+{"subtask_index": 2004, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate_release: Right hand mates the green block onto the middle peg of the wooden base and releases the block."}
+{"subtask_index": 2005, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves towards the white hexagonal block placed on the black table."}
+{"subtask_index": 2006, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 2007, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the white cylinder vertically up from the black tabletop, making it leave the supporting surface."}
+{"subtask_index": 2008, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the white cylinder towards the wooden base with multiple posts."}
+{"subtask_index": 2009, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns the white cylinder with the green post on the wooden base and fits the cylinder onto the post."}
+{"subtask_index": 2010, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand places the white cylindrical block on the green block on the wooden base."}
+{"subtask_index": 2011, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downwards towards the white cylindrical block on the table beside the wooden base."}
+{"subtask_index": 2012, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand closes fingers to grasp the white cylindrical block on the table beside the wooden base."}
+{"subtask_index": 2013, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 2014, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the black table."}
+{"subtask_index": 2015, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand adjusts fingers to close and grasp the white hollow block on the black table."}
+{"subtask_index": 2016, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift_transport: Right hand lifts the white block from the table and transports it towards the wooden block rack."}
+{"subtask_index": 2017, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: place: Right hand lowers the white block onto the vacant position of the wooden block rack."}
+{"subtask_index": 2018, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand aligns and presses the white block to fit into the rack's base."}
+{"subtask_index": 2019, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: release_retreat: Right hand releases the white block and retreats slightly away from the rack."}
+{"subtask_index": 2020, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the table surface."}
+{"subtask_index": 2021, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: grasp: Right hand touches the green cubic block, fingers close and adjust to form a stable grip."}
+{"subtask_index": 2022, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: lift: Right hand lifts the green cubic block upward away from the table surface."}
+{"subtask_index": 2023, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: transport: Right hand transports the green block towards the rightmost white column on the wooden rack."}
+{"subtask_index": 2024, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without moving. | Right hand: mate: Right hand mates the green block onto the rightmost white column on the wooden rack."}
+{"subtask_index": 2025, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves downward from the right resting position toward the green hexagonal block located at the left front of the wooden peg rack, with fingers kept open while approaching the target."}
+{"subtask_index": 2026, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand makes contact with the green hexagonal block, adjusts wrist position and closes fingers to establish a grasp on the block."}
+{"subtask_index": 2027, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block completely off the black table surface."}
+{"subtask_index": 2028, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand carries the lifted green hexagonal block to position it directly above the target purple vertical post on the wooden base."}
+{"subtask_index": 2029, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple vertical post and lowers the block to fit onto the post."}
+{"subtask_index": 2030, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place: Right hand holds the green block, moves it downward along the purple peg, and places it onto the wooden peg base."}
+{"subtask_index": 2031, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: release: Right hand opens fingers to release the green block that rests on the wooden base, separating from the block surface."}
+{"subtask_index": 2032, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward from the peg base area toward the white hexagonal block on the black table surface."}
+{"subtask_index": 2033, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block, adjusting finger positions to establish a stable grip."}
+{"subtask_index": 2034, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to the position directly above the leftmost purple peg on the wooden assembly base."}
+{"subtask_index": 2035, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the leftmost purple peg and lowers the nut to fit onto the peg."}
+{"subtask_index": 2036, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place_release: Right hand places the held white hexagonal block onto the left purple post on the wooden base, opening fingers to release the block."}
+{"subtask_index": 2037, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the leftmost white hexagonal block on the black table surface."}
+{"subtask_index": 2038, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes and adjusts fingers around the leftmost white hexagonal block on the black table surface to form a grasp."}
+{"subtask_index": 2039, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut resting on the black work surface without moving."}
+{"subtask_index": 2040, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black work surface and moves it upward to the position directly above the target purple post on the wooden rack."}
+{"subtask_index": 2041, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the target purple post and lowers the nut to fit it onto the post for nesting assembly."}
+{"subtask_index": 2042, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand adjusts its fingers around the white cylindrical object on the purple peg of the wooden assembly to establish a stable grip."}
+{"subtask_index": 2043, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object clear of the purple peg while moving it downward and forward toward the white hexagonal piece on the dark table surface."}
+{"subtask_index": 2044, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place: Right hand lowers the white cylindrical object to set it onto the front white hexagonal piece resting on the dark table surface."}
+{"subtask_index": 2045, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the white cylindrical object positioned on top of the white hexagonal piece without any observable movement."}
+{"subtask_index": 2046, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand grips the white hexagonal column resting on the dark table surface and lifts it upward until the column is fully separated from the table."}
+{"subtask_index": 2047, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand carries the lifted white hexagonal column upward and leftward through the air to the position directly above the purple vertical rod on the light wooden base."}
+{"subtask_index": 2048, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal column with the purple vertical rod, then lowers the column to fit it securely onto the rod to complete the assembly."}
+{"subtask_index": 2049, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place_release: Right hand places the grasped white hexagonal block onto the purple rod of the wooden base, opening fingers to release the block once the block is supported by the base."}
+{"subtask_index": 2050, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves downward with an empty hand toward the green hexagonal block on the table adjacent to the wooden base."}
+{"subtask_index": 2051, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers and adjusts contact positions around the green hexagonal block on the table to establish a stable grasp."}
+{"subtask_index": 2052, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand lifts the green hexagonal block upward until it fully separates from the black table surface."}
+{"subtask_index": 2053, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand moves the grasped green hexagonal block upward to the position above the purple peg on the wooden assembly rack."}
+{"subtask_index": 2054, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg and fits the block onto the peg."}
+{"subtask_index": 2055, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple peg without any visible movement or grip adjustment."}
+{"subtask_index": 2056, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: place: Right hand lowers the green hexagonal block down the purple peg to rest firmly on the white supporting block on the wooden rack."}
+{"subtask_index": 2057, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves downward and toward the front from the upper assembly area, approaching the white hexagonal object resting on the dark work surface with empty, open fingers."}
+{"subtask_index": 2058, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal object on the work surface, making slight finger adjustments to establish a stable grip while the object remains on the surface."}
+{"subtask_index": 2059, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift: Right hand moves upward while holding the white hexagonal object, lifting the object completely off the dark work surface."}
+{"subtask_index": 2060, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward toward the purple rod on the wooden block base."}
+{"subtask_index": 2061, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod."}
+{"subtask_index": 2062, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: release: Right hand opens fingers to release the fitted white hexagonal block on the purple rod."}
+{"subtask_index": 2063, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed on the table near the wooden base."}
+{"subtask_index": 2064, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table to establish a grasp."}
+{"subtask_index": 2065, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the white hexagonal nut near the wooden component stand without moving."}
+{"subtask_index": 2066, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: transport: Right hand carries the white hexagonal nut upward to the position above the top of the purple rod."}
+{"subtask_index": 2067, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns and fits the white hexagonal nut onto the top end of the purple rod."}
+{"subtask_index": 2068, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: release_reach: Right hand releases the fitted white cylindrical piece on the purple rod and moves empty toward the white hexagonal nut on the dark table surface, approaching the nut with slightly open fingers."}
+{"subtask_index": 2069, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the small white cylindrical block resting on the table surface without moving."}
+{"subtask_index": 2070, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the small white cylindrical block off the table and moves it upward toward the purple rod on the block base."}
+{"subtask_index": 2071, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the small white cylindrical block with the purple rod and lowers it to fit onto the rod for assembly."}
+{"subtask_index": 2072, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: press: Right hand presses the top surface of the purple cylinder on the wooden block holder downward with the index finger, pushing the cylinder down into the holder."}
+{"subtask_index": 2073, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: reach: Right hand moves empty downward and to the right toward the green square block on the dark table surface, with no contact to the block."}
+{"subtask_index": 2074, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: grasp: Right hand makes contact with the green square block on the dark table surface, adjusting finger positions and closing fingers around the block to establish a grip."}
+{"subtask_index": 2075, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: hold: Right hand holds the green hexagonal block resting on the dark table surface without observable movement."}
+{"subtask_index": 2076, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the dark table surface and transports it to the position directly above the rightmost white post on the light wooden rack."}
+{"subtask_index": 2077, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace without any noticeable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the rightmost white post on the wooden rack, moves the block downward to nest it onto the post with slight position adjustments for proper fitting."}
+{"subtask_index": 2078, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the middle block assembly on the table, moving leftward and upward with empty hand."}
+{"subtask_index": 2079, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the purple rod of the middle assembly, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 2080, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the purple rod, then moves leftward and downward to the area above the front-left green block on the table."}
+{"subtask_index": 2081, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block onto the front-left green block on the table, lowering the block until it is supported by the green block."}
+{"subtask_index": 2082, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black table, with fingers adjusting to stabilize the grip."}
+{"subtask_index": 2083, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and moves it to the position above the leftmost purple peg of the wooden base."}
+{"subtask_index": 2084, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg of the wooden base by lowering it onto the peg."}
+{"subtask_index": 2085, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green hexagonal block fully down onto the leftmost purple vertical peg on the wooden base and releases the block."}
+{"subtask_index": 2086, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface to the left of the loose green block."}
+{"subtask_index": 2087, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing around it."}
+{"subtask_index": 2088, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block upward off the dark table surface."}
+{"subtask_index": 2089, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part from the black table surface and transports it upward and rightward to the area above the purple peg on the pegboard."}
+{"subtask_index": 2090, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part with the purple peg by fitting the part onto the peg."}
+{"subtask_index": 2091, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal part fitted on the purple peg without moving."}
+{"subtask_index": 2092, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow cylindrical block onto the purple peg on the wooden base and releases the block."}
+{"subtask_index": 2093, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal hollow block on the black table surface."}
+{"subtask_index": 2094, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal hollow block on the black table surface."}
+{"subtask_index": 2095, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal hollow block on the black table surface without moving."}
+{"subtask_index": 2096, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the dark table, with fingers adjusting to establish a stable grip while the block stays on the table."}
+{"subtask_index": 2097, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow block off the table and transports it upward and toward the peg board with green and purple pegs."}
+{"subtask_index": 2098, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the top-left peg of the peg board, lowering it to fit onto the peg."}
+{"subtask_index": 2099, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hollow block on the top-left peg of the peg board without moving."}
+{"subtask_index": 2100, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand fits the white hollow block onto the purple peg of the wooden rack and releases the block."}
+{"subtask_index": 2101, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the table in front of the wooden rack."}
+{"subtask_index": 2102, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the table in front of the wooden rack, with fingers adjusting to stabilize the grip."}
+{"subtask_index": 2103, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block with a central hole from the dark table surface."}
+{"subtask_index": 2104, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward to the position above the middle purple peg on the wooden base."}
+{"subtask_index": 2105, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the middle purple peg by aligning the hole and lowering the block along the peg."}
+{"subtask_index": 2106, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release_retreat: Right hand releases the white hexagonal block and moves slightly upward away from the peg."}
+{"subtask_index": 2107, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical block on the purple peg of the wooden base, with fingers opening and separating from the block."}
+{"subtask_index": 2108, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the green hexagonal block on the black table surface."}
+{"subtask_index": 2109, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 2110, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward until it is completely off the table surface."}
+{"subtask_index": 2111, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the position above the rightmost purple peg on the wooden base."}
+{"subtask_index": 2112, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the top of the rightmost purple peg, aligning and lowering it onto the peg."}
+{"subtask_index": 2113, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the top of the rightmost purple peg without moving."}
+{"subtask_index": 2114, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the top of the rightmost purple peg, with fingers opening and separating from the block."}
+{"subtask_index": 2115, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal object on the table, approaching it without contact."}
+{"subtask_index": 2116, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal object on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2117, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical piece from the table and transports it upward and leftward toward the wooden peg board."}
+{"subtask_index": 2118, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece onto the purple vertical peg on the wooden board by aligning and lowering it onto the peg."}
+{"subtask_index": 2119, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white cylindrical piece on the purple peg without moving."}
+{"subtask_index": 2120, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand holds the white cylindrical piece and moves downward to mate it onto the vertical peg on the green base."}
+{"subtask_index": 2121, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical piece that is mated on the vertical peg."}
+{"subtask_index": 2122, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the small white cylindrical piece on the table to approach it."}
+{"subtask_index": 2123, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the small white cylindrical piece on the table."}
+{"subtask_index": 2124, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical piece off the table and transports it to the position above the purple rod on the wooden rack."}
+{"subtask_index": 2125, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple rod on the wooden rack by aligning and inserting the rod into the cylinder."}
+{"subtask_index": 2126, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white block onto the purple rod on the wooden base and releases the block."}
+{"subtask_index": 2127, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 2128, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it upward and leftward toward the purple rod on the wooden block holder."}
+{"subtask_index": 2129, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the purple rod and lowers it onto the rod to complete the mating."}
+{"subtask_index": 2130, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white cylindrical part on the purple peg, with fingers opening and separating from the part."}
+{"subtask_index": 2131, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green square block on the dark table surface, moving downward and rightward."}
+{"subtask_index": 2132, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the dark table surface, with fingers closing and adjusting to stabilize the grip."}
+{"subtask_index": 2133, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hollow cube off the table and moves it toward the wooden rack holding white cylinders."}
+{"subtask_index": 2134, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green hollow cube onto the rightmost white cylinder on the wooden rack by aligning the hole with the cylinder and lowering it into place."}
+{"subtask_index": 2135, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hollow cube, with fingers opening and separating from the cube fitted on the white cylinder."}
+{"subtask_index": 2136, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed in front of the wooden base on the table."}
+{"subtask_index": 2137, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the green hexagonal block, adjusting the grip to be stable."}
+{"subtask_index": 2138, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green hexagonal block up off the table surface."}
+{"subtask_index": 2139, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the frontmost purple rod on the wooden base for assembly."}
+{"subtask_index": 2140, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to form a stable grasp on the green hexagonal block on the black tabletop."}
+{"subtask_index": 2141, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the target purple peg on the wooden base."}
+{"subtask_index": 2142, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand lowers the green hexagonal block onto the purple peg to complete the assembly."}
+{"subtask_index": 2143, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the purple rod, moving downwards towards the tabletop."}
+{"subtask_index": 2144, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts fingers to grasp the white hexagonal block on the black tabletop."}
+{"subtask_index": 2145, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 2146, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod, aligning it and pressing down to complete the fitting."}
+{"subtask_index": 2147, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 2148, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface."}
+{"subtask_index": 2149, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the wooden rack with purple poles."}
+{"subtask_index": 2150, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the pole on the wooden rack and inserts it onto the pole."}
+{"subtask_index": 2151, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the pole of the wooden rack without moving."}
+{"subtask_index": 2152, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the black table surface with fingers closing around it."}
+{"subtask_index": 2153, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 2154, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and inserts it down onto the rod to complete assembly."}
+{"subtask_index": 2155, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green square block on the table surface."}
+{"subtask_index": 2156, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the table surface."}
+{"subtask_index": 2157, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it toward the purple peg on the wooden rack."}
+{"subtask_index": 2158, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green hexagonal block with the purple peg and lowers it onto the peg."}
+{"subtask_index": 2159, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green hexagonal block which is placed on the purple peg."}
+{"subtask_index": 2160, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards toward the white hexagonal block placed on the table."}
+{"subtask_index": 2161, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylinder from the black table surface."}
+{"subtask_index": 2162, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylinder towards the wooden base with pegs."}
+{"subtask_index": 2163, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white cylinder with the purple peg on the wooden base and inserts it."}
+{"subtask_index": 2164, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the inserted white cylinder on the purple peg without moving."}
+{"subtask_index": 2165, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the white cylindrical block mounted on the vertical post of the wooden base."}
+{"subtask_index": 2166, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: pull: Right hand pulls the white cylindrical block off the vertical post, making the block fall onto the table surface."}
+{"subtask_index": 2167, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the fallen white cylindrical block on the table."}
+{"subtask_index": 2168, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block off the table surface."}
+{"subtask_index": 2169, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the white cylindrical block towards the wooden base with vertical posts."}
+{"subtask_index": 2170, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white cylindrical block onto the corresponding vertical post on the wooden base."}
+{"subtask_index": 2171, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the wooden base towards another white cylindrical block on the table."}
+{"subtask_index": 2172, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand makes contact with and adjusts its grip on the white cylindrical block near the wooden base."}
+{"subtask_index": 2173, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black tabletop."}
+{"subtask_index": 2174, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block to the position above the purple peg on the wooden rack."}
+{"subtask_index": 2175, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the white hexagonal block onto the purple peg to complete the assembly."}
+{"subtask_index": 2176, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white cylindrical block onto the purple rod on the wooden base and releases the block."}
+{"subtask_index": 2177, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table surface."}
+{"subtask_index": 2178, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table surface and adjusts fingers to form a stable grip."}
+{"subtask_index": 2179, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical object upwards away from the black table surface."}
+{"subtask_index": 2180, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the purple rod on the wooden rack."}
+{"subtask_index": 2181, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical object onto the purple rod fixed on the wooden rack."}
+{"subtask_index": 2182, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the white ring onto the purple rod on the wooden base and releases the ring."}
+{"subtask_index": 2183, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cube on the black table surface."}
+{"subtask_index": 2184, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the black table surface."}
+{"subtask_index": 2185, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table surface and transports it towards the white bottle with a purple cap on the wooden rack."}
+{"subtask_index": 2186, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green ring with the white bottle with a purple cap on the wooden rack and inserts the ring onto the bottle."}
+{"subtask_index": 2187, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green ring placed on the white bottle, fingers opening to separate from the ring."}
+{"subtask_index": 2188, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: idle: Right hand remains empty at the right side of the workspace with fingers extended upward, with no contact with any objects and no visible purposeful movement."}
+{"subtask_index": 2189, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward and leftward from its rest position toward the green hexagonal block at the front-left of the wooden peg assembly stand, remaining empty."}
+{"subtask_index": 2190, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand positions its fingers around the green hexagonal block, closes its fingers to make contact with the block, and adjusts wrist angle and finger positions to establish a stable grip on the block."}
+{"subtask_index": 2191, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the green hexagonal block steadily, with no visible movement of the hand, fingers, or the gripped block."}
+{"subtask_index": 2192, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand holds the green hexagonal block with closed fingers, and lifts it vertically upward until the block fully leaves the black table surface."}
+{"subtask_index": 2193, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted green hexagonal block upward through the air to the position directly above the target purple peg on the wooden assembly base."}
+{"subtask_index": 2194, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg, and lowers the block to fit it onto the peg to form the assembly connection."}
+{"subtask_index": 2195, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes slight finger adjustments to stabilize its grip on the green hexagonal block held over the purple peg on the wooden base."}
+{"subtask_index": 2196, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand moves the gripped green hexagonal block downward along the purple peg until the block is supported by the wooden base."}
+{"subtask_index": 2197, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: release: Right hand opens its fingers to release the green hexagonal block resting on the wooden base."}
+{"subtask_index": 2198, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block positioned in front of the wooden base."}
+{"subtask_index": 2199, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes its fingers around the front white hexagonal block, making small adjustments to establish a grip."}
+{"subtask_index": 2200, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table surface and moves it upward to the position directly above the purple rod on the wooden peg base."}
+{"subtask_index": 2201, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple rod and adjusts the block's position to fit it onto the rod."}
+{"subtask_index": 2202, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand lowers the light purple hexagonal block onto the left purple rod on the green wooden base until the block is supported by the rod."}
+{"subtask_index": 2203, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward from the assembly base area toward the front white hexagonal block placed on the black table surface."}
+{"subtask_index": 2204, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand adjusts finger positions and closes around the front white hexagonal block on the table to establish a stable grip."}
+{"subtask_index": 2205, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut off the table surface and moves it upward to position directly above a purple peg on the wooden assembly base."}
+{"subtask_index": 2206, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple peg and lowers it along the peg to assemble it onto the stacked nut below on the wooden base."}
+{"subtask_index": 2207, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes slight finger adjustments to secure its grip on the white hexagonal block mounted on the left purple peg of the wooden base."}
+{"subtask_index": 2208, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate_release: Right hand moves the grasped white hexagonal block to align with the adjacent purple peg, inserts the block onto the peg, with fingers opening to release the block."}
+{"subtask_index": 2209, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward in an empty state toward the small white hexagonal block placed on the table in front of the wooden base, approaching the target."}
+{"subtask_index": 2210, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand contacts the small white hexagonal block on the table surface, closes fingers and makes slight adjustments to establish a stable grip on the block."}
+{"subtask_index": 2211, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the target purple rod on the wooden base."}
+{"subtask_index": 2212, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and lowers it to fit the block onto the rod."}
+{"subtask_index": 2213, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place_release: Right hand holds the white cylindrical block, moves downward to set the block onto the middle purple rod on the wooden base, with fingers opening to release the block as it rests on the base."}
+{"subtask_index": 2214, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward empty to approach the green hexagonal block resting on the table near the wooden base."}
+{"subtask_index": 2215, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes fingers around the target green hexagonal block on the table, making small adjustments to finger positions to establish a secure hold on the block."}
+{"subtask_index": 2216, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand holds the green block on the dark table surface and lifts it upward until the block is fully off the table surface."}
+{"subtask_index": 2217, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted green block upward and toward the wooden peg base, moving the block directly above the target purple peg."}
+{"subtask_index": 2218, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the hole of the green block with the target purple peg on the wooden base and lowers the block to fit onto the peg, establishing the assembly connection."}
+{"subtask_index": 2219, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the middle purple post until the block is stably supported, and opens fingers to release the block."}
+{"subtask_index": 2220, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block on the dark gray table."}
+{"subtask_index": 2221, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, closes fingers and adjusts contact positions to grasp the block."}
+{"subtask_index": 2222, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the work surface and transports it upward and leftward to the position directly above the target vertical rod on the wooden assembly stand."}
+{"subtask_index": 2223, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the target vertical rod and moves the block downward to fit onto the rod, forming the assembled connection."}
+{"subtask_index": 2224, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place_release: Right hand holds the white cylindrical block, lowers it onto the stacked post on the wooden base, and opens fingers to release the block."}
+{"subtask_index": 2225, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves empty downward toward the small white hexagonal nut placed on the table adjacent to the wooden base."}
+{"subtask_index": 2226, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand makes contact with the small white hexagonal nut on the table, closing and adjusting fingers to form a grip on the nut."}
+{"subtask_index": 2227, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the small white hexagonal nut on the table steadily without any observable movement or finger adjustment."}
+{"subtask_index": 2228, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand grips the white hexagonal nut and lifts it upward until it fully leaves the black table surface."}
+{"subtask_index": 2229, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted white hexagonal nut upward to the position directly above the purple rod on the wooden block rack."}
+{"subtask_index": 2230, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple rod and lowers it to fit onto the rod, completing the assembly."}
+{"subtask_index": 2231, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the assembled white hexagonal nut on the purple rod without any observable movement or hand shape change."}
+{"subtask_index": 2232, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: reach: Right hand moves downward toward the white hexagonal nut on the black table surface with fingers slightly open."}
+{"subtask_index": 2233, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, making minor adjustments to form a stable grip."}
+{"subtask_index": 2234, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the white hexagonal nut steadily on the black table surface without visible movement."}
+{"subtask_index": 2235, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand holds the white cylindrical object and lifts it upward off the dark table surface until the object is fully separated from the table."}
+{"subtask_index": 2236, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted white cylindrical object upward and toward the wooden holder, moving it to the position directly above the empty slot on the holder."}
+{"subtask_index": 2237, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: mate: Right hand makes slight positional adjustments to the white cylindrical object to align it precisely with the empty slot on the wooden holder."}
+{"subtask_index": 2238, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand moves the aligned white cylindrical object downward into the empty slot until the object is stably supported by the wooden holder."}
+{"subtask_index": 2239, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: release: Right hand opens its fingers to release the placed white cylindrical object, separating from the object surface."}
+{"subtask_index": 2240, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand holds the purple cylindrical object on the light wooden tray without moving."}
+{"subtask_index": 2241, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: release_reach: Right hand opens fingers to release the purple cylindrical object on the tray, and moves diagonally down toward the green square block on the black table surface."}
+{"subtask_index": 2242, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand contacts the top of the green square block on the table, closing fingers and adjusting contact positions to form a grip."}
+{"subtask_index": 2243, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: grasp: Right hand closes fingers around the green perforated block on the black table surface to establish a firm grasp."}
+{"subtask_index": 2244, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: lift: Right hand lifts the grasped green block vertically upward until the block is fully separated from the table surface."}
+{"subtask_index": 2245, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: transport: Right hand carries the lifted green block upward and leftward through the air to the position directly above the gap between white cylinders on the wooden tray."}
+{"subtask_index": 2246, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: place: Right hand lowers the green block vertically down to place it into the target gap between white cylinders, until the block is stably supported by adjacent objects."}
+{"subtask_index": 2247, "subtask": "Left hand: idle: Left hand remains empty at the left side of the workspace with fingers extended upward, with no contact with any objects and no visible movement. | Right hand: hold: Right hand maintains a stable grip on the placed green block without observable movement of the hand, fingers or the block."}
+{"subtask_index": 2248, "subtask": "Left hand: retreat: Left hand moves leftward away from the central operation area of the table. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block at the left front of the peg board, approaching the target without contact."}
+{"subtask_index": 2249, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block at the left front of the peg board, approaching the target without contact."}
+{"subtask_index": 2250, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block at the left front of the peg board, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2251, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift: Right hand lifts the green cubic block upward until it is completely separated from the black table surface."}
+{"subtask_index": 2252, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: transport: Right hand transports the green cubic block upward and toward the leftmost purple peg on the wooden board."}
+{"subtask_index": 2253, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the leftmost purple peg and moves it downward to fit the block onto the peg."}
+{"subtask_index": 2254, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: press_release: Right hand presses the green block down to the bottom of the leftmost purple peg on the wooden base and releases the green block."}
+{"subtask_index": 2255, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the black table."}
+{"subtask_index": 2256, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hexagonal block on the black table."}
+{"subtask_index": 2257, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the black table without moving."}
+{"subtask_index": 2258, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it upward and rightward to the upper left of the purple peg group."}
+{"subtask_index": 2259, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg by aligning the block's hole with the peg and inserting it downward."}
+{"subtask_index": 2260, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost purple peg without moving."}
+{"subtask_index": 2261, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand holds the white hollow block and moves downward to mate it onto the leftmost purple peg."}
+{"subtask_index": 2262, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: release_reach: Right hand releases the white hollow block on the leftmost purple peg and moves downward toward the leftmost white hexagonal block on the table."}
+{"subtask_index": 2263, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the table with fingers closing around it."}
+{"subtask_index": 2264, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it upward and forward toward the peg board."}
+{"subtask_index": 2265, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost vertical peg of the wooden board by aligning and lowering it into position."}
+{"subtask_index": 2266, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the leftmost peg of the board without moving."}
+{"subtask_index": 2267, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the purple vertical post on the wooden base and releases its grip."}
+{"subtask_index": 2268, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 2269, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2270, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it to the position above the purple peg on the wooden base."}
+{"subtask_index": 2271, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple peg on the wooden base, moving the block downward to fit onto the peg."}
+{"subtask_index": 2272, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand fits the white cylindrical block onto the purple peg on the wooden base and releases the block."}
+{"subtask_index": 2273, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves downward toward the green cubic block on the dark table surface."}
+{"subtask_index": 2274, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the dark table surface with fingers adjusting to form a stable grip."}
+{"subtask_index": 2275, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the green hexagonal block from the table to the area above the wooden peg board."}
+{"subtask_index": 2276, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto a vertical peg of the wooden peg board by lowering it onto the peg."}
+{"subtask_index": 2277, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical peg of the wooden peg board without moving."}
+{"subtask_index": 2278, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the green vertical peg on the wooden base and releases its grip."}
+{"subtask_index": 2279, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hollow hexagonal block on the dark table surface."}
+{"subtask_index": 2280, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hollow hexagonal block on the dark table surface with fingers closing and adjusting for stable grip."}
+{"subtask_index": 2281, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and transports it upward and rightward toward the wooden base with pegs."}
+{"subtask_index": 2282, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical object with a peg on the wooden base and lowers it to fit onto the peg."}
+{"subtask_index": 2283, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white hollow cylinder onto the purple vertical rod and releases it."}
+{"subtask_index": 2284, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches for the white hexagonal block on the dark table surface near the wooden base."}
+{"subtask_index": 2285, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing and adjusting around it."}
+{"subtask_index": 2286, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical piece upward until it is completely off the table surface."}
+{"subtask_index": 2287, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: transport: Right hand transports the white cylindrical piece leftward and upward to the position above the purple rod on the wooden rack."}
+{"subtask_index": 2288, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the white cylindrical piece with the purple rod on the wooden rack by lowering it onto the rod."}
+{"subtask_index": 2289, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate_release: Right hand mates the white cylindrical block onto the purple rod on the wooden base and releases it."}
+{"subtask_index": 2290, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the dark table surface."}
+{"subtask_index": 2291, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface, with fingers adjusting to stabilize the grip."}
+{"subtask_index": 2292, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the white block off the table and transports it upward and leftward to the position above the purple peg on the wooden rack."}
+{"subtask_index": 2293, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand moves the white block downward to align and fit its hole onto the purple peg on the wooden rack."}
+{"subtask_index": 2294, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: place_release: Right hand places the white block onto the purple peg on the right side of the wooden rack and releases it."}
+{"subtask_index": 2295, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: reach: Right hand moves downward toward the green cube on the dark table surface."}
+{"subtask_index": 2296, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2297, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift: Right hand lifts the green cube upward away from the dark table surface."}
+{"subtask_index": 2298, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, adjusting fingers to form a stable grip."}
+{"subtask_index": 2299, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table and transports it leftward to the area above the rightmost white post on the wooden base."}
+{"subtask_index": 2300, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: mate: Right hand mates the green block with the rightmost white post on the wooden base by aligning the block's hole with the post and lowering it down."}
+{"subtask_index": 2301, "subtask": "Left hand: idle: Left hand remains empty at the left edge of the table without moving. | Right hand: hold: Right hand holds the green block fitted on the rightmost white post of the wooden base without moving."}
+{"subtask_index": 2302, "subtask": "Left hand: return_home: Left hand moves to its home position at the left side of the black table. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}
+{"subtask_index": 2303, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the black table in front of the wooden peg base."}
+{"subtask_index": 2304, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand adjusts its fingers to form a stable grasp on the green hexagonal block."}
+{"subtask_index": 2305, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block from the tabletop and transports it above the target purple rod on the wooden base."}
+{"subtask_index": 2306, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate_place: Right hand aligns the green hexagonal block with the purple rod and places it onto the rod to complete assembly."}
+{"subtask_index": 2307, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: hold: Right hand holds the green hexagonal block on the purple rod without moving."}
+{"subtask_index": 2308, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: press: Right hand presses the white block downward onto the purple post of the wooden base."}
+{"subtask_index": 2309, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward towards the white hexagonal block on the black table surface."}
+{"subtask_index": 2310, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table surface."}
+{"subtask_index": 2311, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table surface and transports it above the purple rod on the wooden base."}
+{"subtask_index": 2312, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning and inserting it downwards onto the rod."}
+{"subtask_index": 2313, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place: Right hand places the white ring onto the purple peg on the wooden base."}
+{"subtask_index": 2314, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table surface."}
+{"subtask_index": 2315, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and moves it towards the wooden base with vertical rods."}
+{"subtask_index": 2316, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand aligns and inserts the white hexagonal block onto the target rod of the wooden base."}
+{"subtask_index": 2317, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table in front of the wooden peg base."}
+{"subtask_index": 2318, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, adjusting fingers to establish a stable grasp."}
+{"subtask_index": 2319, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift: Right hand lifts the white hollow block from the black table surface."}
+{"subtask_index": 2320, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: transport: Right hand transports the white hollow block above the purple post on the wooden base."}
+{"subtask_index": 2321, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand inserts the white hollow block onto the purple post on the wooden base to complete assembly."}
+{"subtask_index": 2322, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: release: Right hand releases the white ring that is fitted on the purple rod."}
+{"subtask_index": 2323, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves toward the green square block placed on the black table surface."}
+{"subtask_index": 2324, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand closes fingers to grasp the green square block on the black table surface."}
+{"subtask_index": 2325, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and transports it above the target peg on the wooden rack."}
+{"subtask_index": 2326, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the green hexagonal block with the target peg on the wooden rack by lowering it onto the peg."}
+{"subtask_index": 2327, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: hold: Right hand holds the green hexagonal block on the peg of the wooden rack without moving."}
+{"subtask_index": 2328, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}
+{"subtask_index": 2329, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block placed on the table."}
+{"subtask_index": 2330, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand adjusts its fingers to grasp the white hexagonal block on the table surface."}
+{"subtask_index": 2331, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand adjusts fingers to stably grasp the white cylindrical object on the table."}
+{"subtask_index": 2332, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical object off the table and moves it towards the wooden assembly rack."}
+{"subtask_index": 2333, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand aligns the white cylindrical object with the target peg on the assembly rack and inserts it onto the peg."}
+{"subtask_index": 2334, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: hold: Right hand holds the inserted white cylindrical object on the assembly rack without moving."}
+{"subtask_index": 2335, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base block tower."}
+{"subtask_index": 2336, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand reaches toward the white cylindrical block on the table near the wooden base."}
+{"subtask_index": 2337, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand grasps the white cylindrical block on the table near the wooden base with finger adjustment."}
+{"subtask_index": 2338, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift_transport: Right hand lifts the white cylindrical block off the table and transports it to above the purple peg on the wooden base."}
+{"subtask_index": 2339, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place: Right hand places the white cylindrical block onto the purple peg on the wooden base."}
+{"subtask_index": 2340, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place_release: Right hand places the white block onto the top of the purple rod on the wooden base, then releases the block."}
+{"subtask_index": 2341, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the black table."}
+{"subtask_index": 2342, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the black table."}
+{"subtask_index": 2343, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward from the black table."}
+{"subtask_index": 2344, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: transport: Right hand transports the white block from the table surface towards the wooden block rack."}
+{"subtask_index": 2345, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: mate: Right hand aligns the white block with the purple rod on the wooden rack and inserts it to complete assembly."}
+{"subtask_index": 2346, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}
+{"subtask_index": 2347, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: reach: Right hand moves toward the green cubic block on the black table surface."}
+{"subtask_index": 2348, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: grasp: Right hand grasps the green cubic block on the black table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2349, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: lift: Right hand lifts the green cubic block away from the black table surface."}
+{"subtask_index": 2350, "subtask": "Left hand: idle: Left hand remains empty at the left home position without any movement. | Right hand: transport_place: Right hand carries the green cubic block toward the purple rod on the wooden base and places it onto the rod."}
+{"subtask_index": 2351, "subtask": "Left hand: return_home: Left hand moves empty upward to the left home position in front of the workspace and comes to a stop. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block located in front-left of the wooden assembly base, with fingers slightly extended during the movement."}
+{"subtask_index": 2352, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block located in front-left of the wooden assembly base, with fingers slightly extended during the movement."}
+{"subtask_index": 2353, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand contacts the target green hexagonal block, closing fingers and adjusting contact positions to establish a grasp on the block."}
+{"subtask_index": 2354, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it completely off the dark table surface, and moves it to the position directly above the leftmost purple peg on the light wooden base."}
+{"subtask_index": 2355, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the green hexagonal block with the leftmost purple peg and moves it downward to fit the block onto the peg until the block rests stably on the underlying green block."}
+{"subtask_index": 2356, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the mated green hexagonal block on the purple peg without any observable movement."}
+{"subtask_index": 2357, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand holds a white hexagonal block, aligns it with the purple peg on the light wooden base, and nests it onto the peg to complete assembly."}
+{"subtask_index": 2358, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves downward empty from the wooden base area, approaching the white hexagonal block placed on the black table surface in front of the base."}
+{"subtask_index": 2359, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, adjusting contact to form a stable grasp."}
+{"subtask_index": 2360, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand lifts the grasped white hexagonal block upward off the black table surface."}
+{"subtask_index": 2361, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block to position it directly above the purple peg on the wooden assembly base."}
+{"subtask_index": 2362, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg, lowers it to nest onto the peg until the block rests on the green supporting block below."}
+{"subtask_index": 2363, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the nested white hexagonal block on the purple peg without observable movement."}
+{"subtask_index": 2364, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand holds a white hexagonal block, aligns it with the purple peg on the wooden base, and slides it down to fit onto the peg above the stacked green block."}
+{"subtask_index": 2365, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: release: Right hand opens its fingers to release the fitted white hexagonal block, separating from the block on the purple peg."}
+{"subtask_index": 2366, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: idle: Right hand remains empty above the wooden peg base without moving."}
+{"subtask_index": 2367, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward from the area above the peg base toward the leftmost white hexagonal block on the dark table surface."}
+{"subtask_index": 2368, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand makes contact with the leftmost white hexagonal block on the table, closes fingers around the block and adjusts contact positions to establish a grasp."}
+{"subtask_index": 2369, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward toward the purple peg on the wooden block base."}
+{"subtask_index": 2370, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the white hexagonal block with the target purple peg and moves it downward to fit the block onto the peg."}
+{"subtask_index": 2371, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves downward from the area above the wooden assembly base toward the white hexagonal nut closest to the wooden base, with an empty hand."}
+{"subtask_index": 2372, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and closes fingers around the closest white hexagonal nut to establish a stable grip."}
+{"subtask_index": 2373, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the white hexagonal nut on the black table surface without any observable movement."}
+{"subtask_index": 2374, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block placed on the dark table near the wooden peg stand to form a stable grasp."}
+{"subtask_index": 2375, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand moves vertically upward to lift the grasped white hexagonal block completely off the table surface."}
+{"subtask_index": 2376, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block upward and toward the empty purple peg on the wooden stand, moving the block to the area above the peg."}
+{"subtask_index": 2377, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand makes slight positional and rotational adjustments to align the central hole of the white hexagonal block with the purple peg, then lowers the block to fit onto the peg."}
+{"subtask_index": 2378, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: place_release: Right hand holds the white hexagonal block, lowers it vertically along the purple peg on the wooden base until the block rests on the base surface, with fingers opening to separate from the block."}
+{"subtask_index": 2379, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green hexagonal block positioned near the front of the wooden base, approaching the block surface."}
+{"subtask_index": 2380, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand adjusts finger positions and contact points to close around the green hexagonal block on the dark table surface, working to establish a stable grip."}
+{"subtask_index": 2381, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the green hexagonal block completely off the dark table surface and transports it upward to the position above the purple peg on the wooden assembly base."}
+{"subtask_index": 2382, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the purple peg on the wooden assembly base, fitting the block down onto the peg to establish the assembly connection."}
+{"subtask_index": 2383, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: place_release: Right hand lowers the green hexagonal block onto the matching purple post on the wooden base, opening fingers to release the block."}
+{"subtask_index": 2384, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty in a downward direction toward the white hexagonal block resting on the black table surface to the left of the loose green block."}
+{"subtask_index": 2385, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table, making small adjustments to establish a stable grip on the block."}
+{"subtask_index": 2386, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand moves upward to lift the grasped white hexagonal block until it is completely separated from the table surface."}
+{"subtask_index": 2387, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: transport: Right hand carries the lifted white hexagonal block toward the wooden assembly base in the upper middle of the frame."}
+{"subtask_index": 2388, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple vertical rod on the wooden base and fits the block onto the rod to establish the assembly connection."}
+{"subtask_index": 2389, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: release_reach: Right hand releases the fitted white cylindrical block from its grasp and moves empty toward the white hexagonal block near the wooden base, with fingers approaching the target block on the tabletop."}
+{"subtask_index": 2390, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the small white hexagonal block resting on the table near the wooden block base."}
+{"subtask_index": 2391, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block fully off the table surface, then moves it upward and leftward toward the empty position on the wooden block base."}
+{"subtask_index": 2392, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the vertical post on the wooden base and fits the block onto the post."}
+{"subtask_index": 2393, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the white hexagonal block securely positioned on the wooden base post without observable movement."}
+{"subtask_index": 2394, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal block resting on the black table surface, approaching the target block without making contact."}
+{"subtask_index": 2395, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand makes contact with the white hexagonal block on the table, adjusting finger positions to close around the block during grasp formation."}
+{"subtask_index": 2396, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: hold: Right hand holds the small white block on the black table surface without observable movement of the hand or the block."}
+{"subtask_index": 2397, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand lifts the small white block off the black table surface and moves it upward to the position above the wooden storage rack."}
+{"subtask_index": 2398, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand aligns the small white block with the purple vertical rod on the wooden rack and fits the block onto the rod."}
+{"subtask_index": 2399, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: release: Right hand releases the white cylindrical block placed on the wooden base, with fingers opening to separate from the block surface."}
+{"subtask_index": 2400, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: retreat: Right hand moves empty upward and rightward, retreating away from the wooden base operation area."}
+{"subtask_index": 2401, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: reach: Right hand moves empty downward toward the green cubic block on the dark table surface, approaching the target without making contact."}
+{"subtask_index": 2402, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: grasp: Right hand contacts the green cubic block on the table, with fingers adjusting positions and closing to form a stable grasp while the block stays on the supporting surface."}
+{"subtask_index": 2403, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift: Right hand lifts the grasped green cubic block upward, moving the block completely off the dark table surface."}
+{"subtask_index": 2404, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: lift_transport: Right hand grips the green block, lifts it completely off the dark table surface, and moves it upward and leftward to the position directly above the white cylindrical object on the wooden tray."}
+{"subtask_index": 2405, "subtask": "Left hand: idle: Left hand stays empty and stationary at the left home position with no observable movement. | Right hand: mate: Right hand holds the green block, makes slight continuous adjustments to its position and orientation to align the block with the top of the white cylindrical object below for nesting."}
+{"subtask_index": 2406, "subtask": "Left hand: reach: Left hand moves upward and inward toward the center of the table while remaining empty, with no contact with any objects. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed in front of the wooden block stand, remaining empty with no object contact."}
+{"subtask_index": 2407, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves downward and leftward toward the green hexagonal block placed in front of the wooden block stand, remaining empty with no object contact."}
+{"subtask_index": 2408, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes its fingers around the green hexagonal block on the table, adjusting finger contact positions to establish a grip on the block."}
+{"subtask_index": 2409, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the green hexagonal block on the table surface steadily, with no visible movement of the hand, fingers or the block."}
+{"subtask_index": 2410, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the green hexagonal block resting on the dark table surface adjacent to the wooden peg board to establish a stable grip, with the block remaining on the table."}
+{"subtask_index": 2411, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block until the block is fully separated from the table surface."}
+{"subtask_index": 2412, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the suspended green hexagonal block through the air to position it directly above the empty purple peg on the wooden peg board."}
+{"subtask_index": 2413, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place: Right hand lowers the green hexagonal block downward onto the target purple peg until the block is stably supported by the wooden peg board."}
+{"subtask_index": 2414, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the green hexagonal block seated on the purple peg without any observable movement of the hand or block."}
+{"subtask_index": 2415, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward along the purple peg to set the block stably on the wooden base, fingers opening to release the block as it settles on the base."}
+{"subtask_index": 2416, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty in a downward direction from the wooden base area toward the target white hexagonal block resting on the dark table surface, remaining out of contact with the block."}
+{"subtask_index": 2417, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand makes contact with the target white hexagonal block, closes fingers around the block and makes small grip adjustments to form a stable grasp, with the block remaining on the table surface."}
+{"subtask_index": 2418, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand maintains a firm grip on the white hexagonal block, lifts the block fully off the table surface, and moves the block upward toward the pegs mounted on the wooden base."}
+{"subtask_index": 2419, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the central hole of the white hexagonal block with the purple peg, lowers the block to fit onto the peg and seat it firmly on the underlying green block."}
+{"subtask_index": 2420, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple peg without any observable movement of the hand or block."}
+{"subtask_index": 2421, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand positions the white hexagonal cap onto the green cylindrical post on the wooden assembly base, opening fingers to release the fully seated cap."}
+{"subtask_index": 2422, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block resting on the dark table surface, approaching the block without making contact."}
+{"subtask_index": 2423, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the targeted white hexagonal block on the dark table surface, adjusting finger contact points to form a stable grip while the block remains supported by the table."}
+{"subtask_index": 2424, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand lifts the white hexagonal nut off the black worktable, moving it upward to the position above the purple post on the wooden base."}
+{"subtask_index": 2425, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the white hexagonal nut with the purple post on the wooden base, sliding it down to fit onto the post."}
+{"subtask_index": 2426, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple post without any visible movement."}
+{"subtask_index": 2427, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: press_release: Right hand holds the white cylindrical block on the left purple peg, presses it straight down along the peg to seat it firmly against the block below, and opens fingers to release the seated block."}
+{"subtask_index": 2428, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty in a downward-forward direction toward the white hexagonal block resting on the black table surface in front of the wooden assembly base, stopping immediately adjacent to the target block."}
+{"subtask_index": 2429, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the adjacent white hexagonal block on the table, making small adjustments of the fingers and wrist to establish a stable hold on the block, which remains resting on the table surface."}
+{"subtask_index": 2430, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal cylinder off the table surface and transports it upward to the position directly above the purple post on the wooden base."}
+{"subtask_index": 2431, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the white hexagonal cylinder with the purple post and moves it downward to fit the cylinder onto the post."}
+{"subtask_index": 2432, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand lowers the gripped white hexagonal nut down onto the middle purple post on the wooden assembly base, releasing the nut as it becomes stably supported by the post."}
+{"subtask_index": 2433, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves downward with an empty grip toward the front green hexagonal block resting on the dark table surface, approaching the block prior to contact."}
+{"subtask_index": 2434, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand contacts the top surface of the front green hexagonal block and adjusts finger positioning to establish a stable grasp on the block."}
+{"subtask_index": 2435, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand lifts the grasped green hexagonal block upward to completely raise it off the dark work surface."}
+{"subtask_index": 2436, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand moves the grasped green hexagonal block upward and toward the wooden stand holding stacked blocks."}
+{"subtask_index": 2437, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the green hexagonal block with the vertical post on the wooden stand and lowers it to fit onto the post."}
+{"subtask_index": 2438, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand moves the held green hexagonal block downward to seat it on the purple peg of the wooden base, with fingers opening to release the seated block."}
+{"subtask_index": 2439, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves with open fingers downward toward the white hexagonal nut resting on the dark table surface, approaching the target nut."}
+{"subtask_index": 2440, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the dark table surface, making small finger position adjustments to form a stable grip while the nut remains supported by the table."}
+{"subtask_index": 2441, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand holds the gripped white hexagonal nut and moves it upward, lifting the nut completely off the dark table surface."}
+{"subtask_index": 2442, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand holds the white hexagonal block, moves upward and toward the top of the purple rod on the stacked block assembly."}
+{"subtask_index": 2443, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the held white hexagonal block with the top of the purple rod, lowers the block to fit it onto the rod to complete the assembly."}
+{"subtask_index": 2444, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: release: Right hand opens fingers to release the assembled white hexagonal block on the purple rod, separating from the block."}
+{"subtask_index": 2445, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty downward toward the white hexagonal block placed near the right edge of the wooden base."}
+{"subtask_index": 2446, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand makes contact with the target white hexagonal block near the wooden base, fingers close and adjust to establish grasp on the block."}
+{"subtask_index": 2447, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand holds the small white cylinder and moves it upward and leftward toward the purple rod on the wooden stacking block set."}
+{"subtask_index": 2448, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the held white cylinder with the purple rod and lowers it to fit the cylinder onto the rod until the cylinder rests on the wooden base."}
+{"subtask_index": 2449, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold_release: Right hand holds the white cylinder steady on the purple rod briefly, then opens fingers to release the cylinder."}
+{"subtask_index": 2450, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty downward and rightward toward the white hexagonal nut placed on the dark table surface."}
+{"subtask_index": 2451, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: hold: Right hand holds the small white ring-shaped object on the dark table surface without observable movement."}
+{"subtask_index": 2452, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand slightly adjusts its fingers to stabilize the grasp on the white ring-shaped object resting on the dark table surface."}
+{"subtask_index": 2453, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift_transport: Right hand lifts the white ring-shaped object off the dark table surface, transporting it upward to the position directly above the purple vertical rod on the wooden tray."}
+{"subtask_index": 2454, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the central hole of the grasped white ring-shaped object with the purple vertical rod, fitting the ring onto the top of the rod for assembly."}
+{"subtask_index": 2455, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place_release: Right hand slides the white ring-shaped object down along the purple vertical rod until it rests on the supporting white cylinder below, opening its fingers to release the object."}
+{"subtask_index": 2456, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: reach: Right hand moves empty diagonally downwards toward the green cubic block resting on the dark work surface."}
+{"subtask_index": 2457, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand closes fingers around the green cubic block, making small adjustments to form a stable grip while the block stays on the table surface."}
+{"subtask_index": 2458, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand moves upwards to raise the grasped green cubic block completely off the dark work surface."}
+{"subtask_index": 2459, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the green block upward and toward the wooden tray, moving the block to the position above the white bottle on the tray."}
+{"subtask_index": 2460, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand adjusts the position and orientation of the green block to align its hole with the purple rod on the white bottle top, making small wrist and finger movements during the alignment attempt."}
+{"subtask_index": 2461, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the green block away from the tray area after the failed alignment, moving the block back down to the right side of the black table surface."}
+{"subtask_index": 2462, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: place: Right hand lowers the green block until it rests on the black table surface, supported by the table."}
+{"subtask_index": 2463, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: grasp: Right hand makes small finger and wrist adjustments to re-grip the green block stably on the table surface."}
+{"subtask_index": 2464, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: lift: Right hand lifts the regripped green block upward from the table surface again until the block is fully off the table."}
+{"subtask_index": 2465, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: transport: Right hand carries the green block upward toward the top of the white bottle on the tray for the second placement attempt."}
+{"subtask_index": 2466, "subtask": "Left hand: hold: Left hand holds the white component with a pink attachment at the left side of the workspace, remaining completely stationary. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod on the white bottle top, and fits the block onto the rod until the block is stably supported by the bottle."}
+{"subtask_index": 2467, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves from the right side of the table towards the leftmost green hexagonal block on the black table surface."}
+{"subtask_index": 2468, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers to contact and grasp the leftmost green hexagonal block, adjusting grip to stabilize the block."}
+{"subtask_index": 2469, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the leftmost green hexagonal block without moving."}
+{"subtask_index": 2470, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green block on the black table, fingers tightening to form a stable grip."}
+{"subtask_index": 2471, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green block upward, away from the black table surface."}
+{"subtask_index": 2472, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand moves the green block horizontally to the position above the leftmost peg of the wooden base."}
+{"subtask_index": 2473, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the green block onto the leftmost peg of the wooden base until the block is supported by the peg."}
+{"subtask_index": 2474, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green block on the leftmost peg of the wooden base without moving."}
+{"subtask_index": 2475, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the green block onto the purple post on the wooden base and releases the block."}
+{"subtask_index": 2476, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it above the leftmost purple rod on the wooden base."}
+{"subtask_index": 2477, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple rod by lowering it to fit onto the rod."}
+{"subtask_index": 2478, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the leftmost purple rod fixed on the wooden base."}
+{"subtask_index": 2479, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down toward the leftmost white hexagonal block placed on the black table surface."}
+{"subtask_index": 2480, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the leftmost white hexagonal block on the black table, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 2481, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block off the black table surface."}
+{"subtask_index": 2482, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, fingers adjusting to form a stable grip."}
+{"subtask_index": 2483, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the leftmost purple rod on the wooden base."}
+{"subtask_index": 2484, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the leftmost purple rod and inserts it onto the rod."}
+{"subtask_index": 2485, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple post on the wooden base."}
+{"subtask_index": 2486, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the white cylindrical block on the black tabletop in front of the wooden base."}
+{"subtask_index": 2487, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white cylindrical block on the black tabletop, adjusting fingers to form a stable grip."}
+{"subtask_index": 2488, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and moves it towards the purple rod on the wooden base."}
+{"subtask_index": 2489, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod and fits it onto the rod to complete assembly."}
+{"subtask_index": 2490, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the purple rod of the wooden base."}
+{"subtask_index": 2491, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green block on the table."}
+{"subtask_index": 2492, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2493, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green hexagonal block on the black tabletop."}
+{"subtask_index": 2494, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the tabletop and moves it towards the wooden rack."}
+{"subtask_index": 2495, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green hexagonal block onto the vertical post on the wooden rack."}
+{"subtask_index": 2496, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the vertical post of the wooden rack without moving."}
+{"subtask_index": 2497, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green ring onto the vertical post of the wooden base."}
+{"subtask_index": 2498, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white ring on the table surface."}
+{"subtask_index": 2499, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white ring on the table surface."}
+{"subtask_index": 2500, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring off the table and transports it towards the wooden base with stacked blocks."}
+{"subtask_index": 2501, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white ring with the target rod on the wooden base and assembles it onto the rod."}
+{"subtask_index": 2502, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white block onto the post of the wooden base."}
+{"subtask_index": 2503, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white block on the table near the wooden base."}
+{"subtask_index": 2504, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white block on the table near the wooden base, with fingers closing around the block to adjust grip."}
+{"subtask_index": 2505, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white block upward slightly off the table surface."}
+{"subtask_index": 2506, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white ring upward to the top of the target peg on the wooden block."}
+{"subtask_index": 2507, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the target peg on the wooden block."}
+{"subtask_index": 2508, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base with stacked blocks."}
+{"subtask_index": 2509, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block on the dark table surface."}
+{"subtask_index": 2510, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the dark table surface."}
+{"subtask_index": 2511, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block off the table and transports it above the purple rod on the wooden base."}
+{"subtask_index": 2512, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the white cubic block with the top of the purple rod on the wooden base."}
+{"subtask_index": 2513, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand lowers the white cubic block along the purple rod until it is supported by the underlying block on the wooden base."}
+{"subtask_index": 2514, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block onto the purple rod on the wooden base."}
+{"subtask_index": 2515, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes fingers around the green cubic block on the tabletop to form a stable grasp."}
+{"subtask_index": 2516, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped green cubic block upward off the black tabletop."}
+{"subtask_index": 2517, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the green block towards the top of the rightmost white column on the wooden base."}
+{"subtask_index": 2518, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand moves the green block down to place it onto the top of the target white column."}
+{"subtask_index": 2519, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand adjusts the green block to fit onto the white column to complete the assembly."}
+{"subtask_index": 2520, "subtask": "Left hand: return_home: Left hand moves from its initial lower left position to the stationary home position at the left side of the workspace, staying empty with fingers extended during the movement. | Right hand: reach: Right hand moves diagonally downward and left from its initial right-side position toward the green hexagonal block on the black table in front of the wooden peg assembly, with fingers held extended."}
+{"subtask_index": 2521, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves diagonally downward and left from its initial right-side position toward the green hexagonal block on the black table in front of the wooden peg assembly, with fingers held extended."}
+{"subtask_index": 2522, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes its fingers around the target green hexagonal block, making small adjustments to finger positions and wrist angle to form a stable grip while the block remains resting on the table surface."}
+{"subtask_index": 2523, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block steady on the black table surface, with no observable movement of the hand, fingers, or the block."}
+{"subtask_index": 2524, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable, secure grasp on the green hexagonal block resting on the black work surface."}
+{"subtask_index": 2525, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand moves upward to lift the grasped green hexagonal block, fully separating it from the black work surface."}
+{"subtask_index": 2526, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand moves the lifted green hexagonal block upward and horizontally toward the purple peg mounted on the wooden base."}
+{"subtask_index": 2527, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green hexagonal block with the target purple peg and lowers the block to fit snugly onto the peg."}
+{"subtask_index": 2528, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted on the purple peg without any visible movement of the hand or block."}
+{"subtask_index": 2529, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the green hexagonal block, moves it downward to place it onto the purple peg on the wooden base, releasing the block as it settles on the base surface."}
+{"subtask_index": 2530, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the white hexagonal block resting on the table surface."}
+{"subtask_index": 2531, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the white hexagonal block, fingers close and perform small adjustments to establish a grip on the block."}
+{"subtask_index": 2532, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block completely off the table and transports it upward and backward to the position above the target purple peg on the wooden base."}
+{"subtask_index": 2533, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the hole of the white hexagonal block with the target purple peg and slides it downward to fit onto the peg."}
+{"subtask_index": 2534, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the assembled white hexagonal block on the purple peg without any visible movement."}
+{"subtask_index": 2535, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate_release: Right hand holds the white cylindrical block, aligns it with the leftmost purple rod on the wooden base to fit the block onto the rod, opens fingers to release the block."}
+{"subtask_index": 2536, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward empty toward the leftmost white hexagonal block on the front section of the table, approaching the target without making contact."}
+{"subtask_index": 2537, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the leftmost white hexagonal block on the table, closes fingers and adjusts contact positions to form a grasp on the block."}
+{"subtask_index": 2538, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the table surface and moves it upward to the position above the purple rod on the wooden assembly stand."}
+{"subtask_index": 2539, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the purple rod and slides the nut down onto the rod to complete the fitting."}
+{"subtask_index": 2540, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal nut fitted on the purple rod without any observable movement or adjustment."}
+{"subtask_index": 2541, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds a white hexagonal block, moves it downward onto the purple peg on the wooden base, releasing the block as the peg supports it."}
+{"subtask_index": 2542, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward with an empty grip toward the white hexagonal block in front of the wooden base, approaching the block without contact."}
+{"subtask_index": 2543, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the front white hexagonal block near the wooden base to form a stable grip."}
+{"subtask_index": 2544, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the front white hexagonal block near the wooden base with no observable movement or finger adjustment."}
+{"subtask_index": 2545, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grip on the white hexagonal block near the wooden stand, with the block remaining on the table surface throughout this period."}
+{"subtask_index": 2546, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal block off the table surface and moves it upward to the position directly above the purple peg on the wooden stand."}
+{"subtask_index": 2547, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple peg on the wooden stand and moves the block downward to fit it onto the peg."}
+{"subtask_index": 2548, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hexagonal block fitted on the purple peg of the wooden stand without any observable movement of the hand or block."}
+{"subtask_index": 2549, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward along the purple peg to set it onto the wooden assembly base, opens fingers to release grip on the block as it rests stably on the base."}
+{"subtask_index": 2550, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves empty in a downward and forward direction toward the green hexagonal block placed on the table surface in front of the assembly base."}
+{"subtask_index": 2551, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the green hexagonal block, adjusts finger positions and closes fingers to form a stable grip on the block."}
+{"subtask_index": 2552, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand holds the green block resting on the table surface and lifts it upward until the block is completely separated from the table."}
+{"subtask_index": 2553, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted green block upward to the position directly above the target purple rod on the wooden rack."}
+{"subtask_index": 2554, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the green block with the target purple rod on the wooden rack and lowers the block to fit onto the rod."}
+{"subtask_index": 2555, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green block securely fitted on the target purple rod without any visible movement or hand shape change."}
+{"subtask_index": 2556, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts its fingers to close around and form a stable grasp on the green cylindrical block mounted on the purple rod of the wooden assembly stand."}
+{"subtask_index": 2557, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the grasped green cylindrical block off the purple rod, then carries it rightward and downward across the table toward the green square block placed on the surface."}
+{"subtask_index": 2558, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand makes small positional and orientational adjustments to the held green cylindrical block to align it with the mating hole on the green square block on the table."}
+{"subtask_index": 2559, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds a white hexagonal block that rests on the dark table surface, with no visible movement of the hand or block."}
+{"subtask_index": 2560, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the dark table surface and moves it upward and leftward toward the purple rod on the wooden block base."}
+{"subtask_index": 2561, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the white hexagonal block with the purple rod on the wooden block base and makes small positional adjustments to fit the block onto the rod."}
+{"subtask_index": 2562, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward along the purple rod on the wooden stacking base to set the block stably on the green block beneath, with fingers opening to release contact with the block."}
+{"subtask_index": 2563, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand travels rightward with empty hand toward the white hexagonal block on the table adjacent to the wooden stacking base, approaching the target without contact."}
+{"subtask_index": 2564, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand makes contact with the target white hexagonal block on the table, fingers adjust and close around the block to establish a stable grip."}
+{"subtask_index": 2565, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the gripped small white hexagonal block vertically upward until the block is completely separated from the table surface."}
+{"subtask_index": 2566, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the gripped small white hexagonal block upward and horizontally toward the top of the purple vertical rod mounted on the wooden rack."}
+{"subtask_index": 2567, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the central hole of the small white hexagonal block with the purple vertical rod and slides the block down onto the rod to form an assembled connection."}
+{"subtask_index": 2568, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp_release: Right hand adjusts finger contact points on the white cylindrical block mounted on the purple rod of the wooden rack, opening fingers to end contact with the block."}
+{"subtask_index": 2569, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves downward through empty space toward the white hexagonal nut resting on the black table surface, with fingers held slightly open."}
+{"subtask_index": 2570, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the black table surface to establish grip on the object."}
+{"subtask_index": 2571, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hollow block resting on the dark table surface without moving."}
+{"subtask_index": 2572, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand lifts the white hollow block vertically upward until the block is fully separated from the table surface."}
+{"subtask_index": 2573, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport_mate: Right hand carries the white hollow block through the air toward the purple upright post on the wooden base, aligns the block with the post, and fits the block onto the top of the post."}
+{"subtask_index": 2574, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the white hollow block seated on the purple upright post without moving."}
+{"subtask_index": 2575, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward to set it onto the purple rod on the wooden base, and opens fingers to release the stably supported block."}
+{"subtask_index": 2576, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: retreat: Right hand moves in the lower-right direction away from the wooden base with empty hand, departing from the previous assembly position."}
+{"subtask_index": 2577, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: reach: Right hand moves toward the green square block resting on the dark table surface, approaching the block to prepare for grasping."}
+{"subtask_index": 2578, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: grasp: Right hand adjusts finger positions around the green square block on the table, closing fingers to form a firm grasp on the block."}
+{"subtask_index": 2579, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: lift: Right hand holds the green block and lifts it upward to completely separate from the black table surface."}
+{"subtask_index": 2580, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: transport: Right hand carries the lifted green block, moving it upward and leftward to the position above the stacked blocks on the wooden tray."}
+{"subtask_index": 2581, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: mate: Right hand aligns the hole of the green block with the top of the uppermost white block on the tray, adjusting position slightly to fit the block onto the post."}
+{"subtask_index": 2582, "subtask": "Left hand: idle: Left hand remains empty at the left home position with no observable movement of the hand or fingers. | Right hand: hold: Right hand holds the green block steadily fitted on the top of the stacked block without any movement."}
+{"subtask_index": 2583, "subtask": "Left hand: other:move_upper_left: Left hand moves upward and leftward from the lower left position to the upper left area of the table, empty-handed. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden rack, empty-handed, without contacting any target object."}
+{"subtask_index": 2584, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves from the right side of the table toward the green hexagonal block in front of the wooden rack, empty-handed, without contacting any target object."}
+{"subtask_index": 2585, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers closing and adjusting to form a stable grip, the block remains on the table surface."}
+{"subtask_index": 2586, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table without moving."}
+{"subtask_index": 2587, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the dark table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2588, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block off the table and transports it upwards and rightwards to the position above the leftmost purple peg of the wooden base."}
+{"subtask_index": 2589, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand moves the green hexagonal block downwards and mates it with the leftmost purple peg on the wooden base by inserting the peg through the block's hole."}
+{"subtask_index": 2590, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block fitted on the leftmost purple peg without moving."}
+{"subtask_index": 2591, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the green hollow block onto the leftmost purple peg and releases its grip on the block."}
+{"subtask_index": 2592, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the dark table surface."}
+{"subtask_index": 2593, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers around the white hexagonal block on the table to form a stable grip."}
+{"subtask_index": 2594, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it upward and rightward to the position above the leftmost peg of the peg board."}
+{"subtask_index": 2595, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost peg of the peg board by lowering it to fit onto the peg."}
+{"subtask_index": 2596, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block fitted on the leftmost peg of the peg board without moving."}
+{"subtask_index": 2597, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate_release: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden base and releases the grip."}
+{"subtask_index": 2598, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: retreat: Right hand moves upward away from the leftmost purple peg with empty hand."}
+{"subtask_index": 2599, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table with empty hand."}
+{"subtask_index": 2600, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: idle: Right hand remains empty above the left white hexagonal block on the table without moving."}
+{"subtask_index": 2601, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the black table, with fingers closing to adjust the grip while the block stays on the table."}
+{"subtask_index": 2602, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the black table and transports it upward and backward to the position above the leftmost peg of the wooden rack."}
+{"subtask_index": 2603, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the leftmost purple peg of the wooden rack, moving downward to fit the block onto the peg."}
+{"subtask_index": 2604, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward and rightward toward the white hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 2605, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing and adjusting to form a stable grip."}
+{"subtask_index": 2606, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, adjusting fingers to stabilize the grip."}
+{"subtask_index": 2607, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts and transports the white hexagonal block from the table to the position above the purple peg on the wooden rack."}
+{"subtask_index": 2608, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple peg by lowering it to fit the peg."}
+{"subtask_index": 2609, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple peg without moving."}
+{"subtask_index": 2610, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white ring onto the middle purple peg and releases its grip from the ring."}
+{"subtask_index": 2611, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward from the peg board toward the green hexagonal block on the table surface."}
+{"subtask_index": 2612, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2613, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the green hexagonal block on the table surface without moving."}
+{"subtask_index": 2614, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green hexagonal block upward off the table surface."}
+{"subtask_index": 2615, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the green hexagonal block upward and leftward to the area above the middle peg on the wooden rack."}
+{"subtask_index": 2616, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the middle peg of the wooden rack, aligning the block's hole with the peg and lowering it into place."}
+{"subtask_index": 2617, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green hexagonal block, with fingers opening to separate from the block."}
+{"subtask_index": 2618, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_release: Right hand lifts the green ring upward off the middle purple peg on the wooden base and releases it, letting the ring drop onto the dark table surface."}
+{"subtask_index": 2619, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: idle: Right hand remains empty above the wooden peg base without moving."}
+{"subtask_index": 2620, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the green ring resting on the table surface."}
+{"subtask_index": 2621, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green ring on the table surface with fingers closing around it."}
+{"subtask_index": 2622, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table surface and moves it slightly above the table."}
+{"subtask_index": 2623, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green ring placed on the table surface, with slight finger and wrist movements."}
+{"subtask_index": 2624, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the green ring off the table and moves it upward to the area above the purple pegs."}
+{"subtask_index": 2625, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the green ring with the middle purple peg and lowers it onto the peg."}
+{"subtask_index": 2626, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand releases the green ring fitted on the purple peg as fingers open."}
+{"subtask_index": 2627, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal ring on the table surface."}
+{"subtask_index": 2628, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the table surface with fingers closing."}
+{"subtask_index": 2629, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal nut from the table and transports it toward the purple peg on the wooden base."}
+{"subtask_index": 2630, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal nut with the purple peg, aligning and lowering it onto the peg."}
+{"subtask_index": 2631, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white hexagonal nut on the purple peg without moving."}
+{"subtask_index": 2632, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers to grasp the white cylindrical block on the purple peg of the wooden base."}
+{"subtask_index": 2633, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward off the green block beneath it on the purple peg."}
+{"subtask_index": 2634, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport_release: Right hand moves the white cylindrical block above the table surface and releases it, letting the block drop onto the table."}
+{"subtask_index": 2635, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white cylindrical block that fell onto the table."}
+{"subtask_index": 2636, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand adjusts its fingers around the white cylindrical block on the table to establish a stable grasp."}
+{"subtask_index": 2637, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white cylindrical block upward away from the table surface."}
+{"subtask_index": 2638, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand moves the white cylindrical block upward to the position above the middle purple peg on the wooden base."}
+{"subtask_index": 2639, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand aligns the white cylindrical block with the middle purple peg and lowers it onto the peg to form an assembly."}
+{"subtask_index": 2640, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: release: Right hand opens its fingers to release the white cylindrical block fitted on the middle purple peg."}
+{"subtask_index": 2641, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the upper white cylindrical block resting on the table."}
+{"subtask_index": 2642, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand closes its fingers around the upper white cylindrical block on the table to initiate a grasp."}
+{"subtask_index": 2643, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal block off the table surface."}
+{"subtask_index": 2644, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block upward and leftward to the position above the purple rod on the wooden base."}
+{"subtask_index": 2645, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the white hexagonal block with the purple rod by aligning the block's hole with the rod and lowering the block down the rod."}
+{"subtask_index": 2646, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white hexagonal block onto the rightmost peg of the wooden base and releases it."}
+{"subtask_index": 2647, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves downward toward the white hexagonal block on the table."}
+{"subtask_index": 2648, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table with fingers closing and adjusting."}
+{"subtask_index": 2649, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift_transport: Right hand lifts the white cubic block from the table surface and transports it toward the purple rod on the wooden rack."}
+{"subtask_index": 2650, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand moves the white cubic block downward to align and fit it onto the purple rod."}
+{"subtask_index": 2651, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: hold: Right hand holds the white cubic block on the purple rod without moving."}
+{"subtask_index": 2652, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: place_release: Right hand places the white cap onto the top of the rightmost white cylinder with a purple rod on the wooden base and releases the cap."}
+{"subtask_index": 2653, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: reach: Right hand moves empty toward the green cube on the dark table surface."}
+{"subtask_index": 2654, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: grasp: Right hand grasps the green cube on the dark table surface with fingers adjusting to form a stable grip."}
+{"subtask_index": 2655, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: lift: Right hand lifts the green block up from the table surface."}
+{"subtask_index": 2656, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: transport: Right hand transports the green block leftward and upward to the position above the white bottle on the wooden rack."}
+{"subtask_index": 2657, "subtask": "Left hand: idle: Left hand remains empty at the upper left area of the table without moving. | Right hand: mate: Right hand mates the green block with the white bottle, lowering it to fit onto the bottle top."}
+{"subtask_index": 2658, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the white cylindrical block on the front left of the wooden base."}
+{"subtask_index": 2659, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to form stable grasp on the white cylindrical block on the front left of the wooden base."}
+{"subtask_index": 2660, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white cylindrical block upwards from the wooden base."}
+{"subtask_index": 2661, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block on the desktop near the wooden peg board."}
+{"subtask_index": 2662, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the desktop and transports it above the target purple peg on the wooden board."}
+{"subtask_index": 2663, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cubic block onto the target purple peg by lowering and aligning it."}
+{"subtask_index": 2664, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the green block onto the purple rod on the wooden base."}
+{"subtask_index": 2665, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves toward the white hexagonal block on the table."}
+{"subtask_index": 2666, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table."}
+{"subtask_index": 2667, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal object off the black tabletop."}
+{"subtask_index": 2668, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal object towards the purple rod on the wooden base."}
+{"subtask_index": 2669, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns and lowers the white hexagonal object onto the purple rod to complete assembly."}
+{"subtask_index": 2670, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward towards the left white hexagonal block on the black table."}
+{"subtask_index": 2671, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hexagonal block on the black table."}
+{"subtask_index": 2672, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the table and transports it towards the assembly rack with pegs."}
+{"subtask_index": 2673, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the target peg on the assembly rack."}
+{"subtask_index": 2674, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block down onto the aligned peg until it is supported by the peg."}
+{"subtask_index": 2675, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it upward to the position above the purple rod on the wooden base."}
+{"subtask_index": 2676, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple rod of the wooden base by lowering it down to fit."}
+{"subtask_index": 2677, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the green square block on the desktop."}
+{"subtask_index": 2678, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green square block on the desktop."}
+{"subtask_index": 2679, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cube from the table and transports it towards the wooden rack with vertical rods."}
+{"subtask_index": 2680, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cube with a vertical rod on the wooden rack and inserts it onto the rod."}
+{"subtask_index": 2681, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the rod of the wooden rack without moving."}
+{"subtask_index": 2682, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green cube onto the vertical pillar on the wooden base."}
+{"subtask_index": 2683, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches towards the white hexagonal ring on the black table surface."}
+{"subtask_index": 2684, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal ring on the black table surface."}
+{"subtask_index": 2685, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical object from the tabletop and transports it towards the wooden peg board."}
+{"subtask_index": 2686, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white cylindrical object onto a peg of the wooden peg board."}
+{"subtask_index": 2687, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring onto the purple peg on the wooden base."}
+{"subtask_index": 2688, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves down towards the white ring on the table next to the wooden base."}
+{"subtask_index": 2689, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white ring on the table, fingers adjust to form stable grip."}
+{"subtask_index": 2690, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white ring upwards from the table surface."}
+{"subtask_index": 2691, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal block towards the empty slot on the wooden rack."}
+{"subtask_index": 2692, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place: Right hand places the white hexagonal block into the empty slot on the wooden rack."}
+{"subtask_index": 2693, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white hexagonal block fitted in the wooden rack slot."}
+{"subtask_index": 2694, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats upward away from the wooden rack."}
+{"subtask_index": 2695, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the wooden rack towards the white hexagonal block on the table."}
+{"subtask_index": 2696, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table, fingers adjust to form a stable grip."}
+{"subtask_index": 2697, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the grasped white hexagonal block away from the table surface."}
+{"subtask_index": 2698, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hollow block towards the purple rod on the wooden tray."}
+{"subtask_index": 2699, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow block onto the purple rod on the wooden tray."}
+{"subtask_index": 2700, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic block on the gray table surface."}
+{"subtask_index": 2701, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers adjusting to form a stable grip on the block."}
+{"subtask_index": 2702, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic object away from the black table surface."}
+{"subtask_index": 2703, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cubic object towards the bottle with purple tip on the wooden tray."}
+{"subtask_index": 2704, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: other:failed_insert: Right hand attempts to insert the green cubic object onto the purple bottle tip, the object falls onto the table surface."}
+{"subtask_index": 2705, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves away from the fallen green cubic object."}
+{"subtask_index": 2706, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic object on the black table surface."}
+{"subtask_index": 2707, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green cubic object on the table surface."}
+{"subtask_index": 2708, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand moves slightly away from the green cubic object."}
+{"subtask_index": 2709, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves towards the green cubic object on the table again."}
+{"subtask_index": 2710, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the green cubic object away from the table surface."}
+{"subtask_index": 2711, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cubic object towards the bottle with purple tip."}
+{"subtask_index": 2712, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand repeatedly attempts to align and insert the green cubic object onto the purple bottle tip."}
+{"subtask_index": 2713, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand carries the green cubic object back to the black table surface."}
+{"subtask_index": 2714, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grip on the green cubic object placed on the table."}
+{"subtask_index": 2715, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand inserts the green cubic object onto the purple bottle tip and adjusts its position to fit stably."}
+{"subtask_index": 2716, "subtask": "Left hand: other:move_to_idle_position: Left hand moves upward from its initial left-side position to the upper left stationary position, remaining empty with fingers extended. | Right hand: reach: Right hand moves from its initial right-side position, first upward then downward, toward the green hexagonal block on the table in front of the wooden base, with fingers open as it approaches the target block."}
+{"subtask_index": 2717, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves from its initial right-side position, first upward then downward, toward the green hexagonal block on the table in front of the wooden base, with fingers open as it approaches the target block."}
+{"subtask_index": 2718, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the front-left green hexagonal block on the table, making small adjustments with fingers and wrist to establish a stable grip, while the block remains on the table surface."}
+{"subtask_index": 2719, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the stably grasped green hexagonal block vertically upward until it is completely separated from the tabletop support."}
+{"subtask_index": 2720, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand transports the grasped green hexagonal block upward to the position directly above the target purple peg on the wooden base."}
+{"subtask_index": 2721, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the hole of the green hexagonal block with the purple peg and lowers the block to fit onto the peg."}
+{"subtask_index": 2722, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the green hexagonal block fitted onto the purple peg without any observable movement of the hand or the block."}
+{"subtask_index": 2723, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts its grip on the green hexagonal block mounted on the leftmost purple peg, slightly tightening fingers to secure the block."}
+{"subtask_index": 2724, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the secured green hexagonal block away from the leftmost purple peg, moving downward toward the empty lower left purple peg on the wooden base."}
+{"subtask_index": 2725, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand places the green hexagonal block onto the lower left purple peg of the wooden base, opening fingers to release the block."}
+{"subtask_index": 2726, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the wooden base toward the white hexagonal block at the left front of the table surface."}
+{"subtask_index": 2727, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the target white hexagonal block on the table, making small finger position adjustments to form a stable grip."}
+{"subtask_index": 2728, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the grasped white hexagonal nut completely off the dark work surface and moves it upward to position it directly above an unoccupied purple peg on the wooden assembly base."}
+{"subtask_index": 2729, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hexagonal nut with the unoccupied purple peg and lowers the nut to fit it onto the peg, establishing the assembly connection."}
+{"subtask_index": 2730, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: press: Right hand presses the top of the white cylindrical block on the purple peg downward to seat it fully on the wooden assembly base."}
+{"subtask_index": 2731, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward empty from the assembly base toward the leftmost loose white hexagonal block placed on the dark work surface."}
+{"subtask_index": 2732, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the leftmost loose white hexagonal block on the work surface to form a stable grip."}
+{"subtask_index": 2733, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the grasped white hollow block vertically upward to separate it from the black table surface."}
+{"subtask_index": 2734, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped white hollow block upward to the position directly above the unoccupied purple rod on the wooden assembly stand."}
+{"subtask_index": 2735, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hollow block with the purple rod, and lowers the block to fit onto the rod until it rests on the green base block below."}
+{"subtask_index": 2736, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the assembled white hollow block on the purple rod without any visible movement."}
+{"subtask_index": 2737, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: release: Right hand opens its fingers to release the grasped white hollow block, separating the hand from the block."}
+{"subtask_index": 2738, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves downward from the upper position to approach the left white hexagonal nut in front of the wooden block base."}
+{"subtask_index": 2739, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the left white hexagonal nut in front of the wooden block base, with slight adjustments of fingers and wrist to form a stable grip."}
+{"subtask_index": 2740, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the left white hexagonal nut in front of the wooden block base without any observable movement of the hand or the nut."}
+{"subtask_index": 2741, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand grips the white cylindrical block and lifts it upward to fully separate it from the dark table surface."}
+{"subtask_index": 2742, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the lifted white cylindrical block through the air toward the empty purple peg on the light wooden assembly base."}
+{"subtask_index": 2743, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white cylindrical block with the target purple peg, then lowers the block to fit it securely onto the peg."}
+{"subtask_index": 2744, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the fitted white cylindrical block on the purple peg without any visible movement of the hand or block."}
+{"subtask_index": 2745, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward onto the purple rod on the wooden base, and opens fingers to release the supported block."}
+{"subtask_index": 2746, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward from the wooden base area toward the green hollow block resting on the dark table surface."}
+{"subtask_index": 2747, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the green hollow block on the dark table surface to form a grip."}
+{"subtask_index": 2748, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand holds the green hexagonal block, lifts it off the table surface and moves it upward toward the purple post on the wooden block assembly."}
+{"subtask_index": 2749, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand holds the green hexagonal block, aligns its central hole with the purple post on the wooden assembly, and makes slight positional and rotational adjustments to fit the block onto the post."}
+{"subtask_index": 2750, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the white cylindrical block, moves it downward along the purple rod to set it on top of the green block on the wooden base, fingers opening to release the positioned block."}
+{"subtask_index": 2751, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward across the black table surface toward the white hexagonal nut adjacent to the green square block."}
+{"subtask_index": 2752, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal nut on the table, adjusting finger contact positions to establish a stable grasp."}
+{"subtask_index": 2753, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand lifts the held white cylindrical block upward, raising it fully off the black table surface."}
+{"subtask_index": 2754, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand transports the held white cylindrical block upward and toward the purple rod on the wooden assembly base."}
+{"subtask_index": 2755, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the held white cylindrical block with the purple rod and lowers it to fit onto the rod, establishing the assembly connection."}
+{"subtask_index": 2756, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand lowers the white cylindrical block onto the corresponding vertical rod on the wooden assembly base until the block is supported by the block below, opens fingers to release grip on the block."}
+{"subtask_index": 2757, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty downward to approach the white hexagonal block placed next to the wooden assembly base on the table."}
+{"subtask_index": 2758, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the black table, with slight wrist adjustment to form a stable grip on the block."}
+{"subtask_index": 2759, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: hold: Right hand holds the white hexagonal block resting on the black table near the wooden assembly base without any observable movement of the hand or the block."}
+{"subtask_index": 2760, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand holds the white hexagonal block and moves it upward and leftward to the position directly above the purple rod on the wooden block base."}
+{"subtask_index": 2761, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the held white hexagonal block with the purple rod and lowers it to fit onto the rod to form the nested assembly."}
+{"subtask_index": 2762, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand holds the white hexagonal block, moves it downward to place it onto the purple rod on the wooden block stand, opens fingers to release the block."}
+{"subtask_index": 2763, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty from the wooden block stand area toward the white hexagonal block resting on the dark table surface."}
+{"subtask_index": 2764, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the white hexagonal block on the table surface to establish a stable grasp."}
+{"subtask_index": 2765, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand moves upward with the grasped white hexagonal block, lifting the block completely off the table surface."}
+{"subtask_index": 2766, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand adjusts finger positions to form a stable grasp on the white hollow cylinder resting on the dark table surface."}
+{"subtask_index": 2767, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table surface and moves it upward toward the purple rod mounted on the wooden block stand."}
+{"subtask_index": 2768, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand aligns the central hole of the white hollow cylinder with the purple rod and lowers the cylinder to fit onto the rod."}
+{"subtask_index": 2769, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: place_release: Right hand positions the white-and-green cylindrical block onto the purple peg on the wooden tray and releases grip to leave the block supported by the tray."}
+{"subtask_index": 2770, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: reach: Right hand moves empty across the black work surface toward the small green cube."}
+{"subtask_index": 2771, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: grasp: Right hand closes fingers around the small green cube on the work surface, adjusting finger positions to form a stable grip."}
+{"subtask_index": 2772, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: lift: Right hand maintains a closed grasp on the green hexagonal block, lifting it vertically upward until the block is fully separated from the dark work surface."}
+{"subtask_index": 2773, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: transport: Right hand carries the grasped green hexagonal block upward and leftward across the dark work surface, moving it to the position directly above the purple vertical rod on the wooden tray."}
+{"subtask_index": 2774, "subtask": "Left hand: idle: Left hand remains empty at the upper left stationary position, with no observable movement of the hand, wrist or fingers. | Right hand: mate: Right hand adjusts the position of the green hexagonal block to align its central hole with the purple vertical rod, lowering the block to nest onto the rod to enter the assembled state."}
+{"subtask_index": 2775, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches toward the green cubic block on the table in front of the left side of the wooden rack, moving leftward and downward with fingers open."}
+{"subtask_index": 2776, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green cubic block, with fingers closing around the block to adjust and form a stable grip."}
+{"subtask_index": 2777, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cubic block on the table without moving."}
+{"subtask_index": 2778, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green block on the dark table surface, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2779, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green block off the table surface and transports it toward the wooden peg board on the table."}
+{"subtask_index": 2780, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the green block onto the purple peg of the wooden peg board, moving downward to fit the block onto the peg."}
+{"subtask_index": 2781, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: place_release: Right hand places the green hexagonal block onto the leftmost purple peg base and releases its grip."}
+{"subtask_index": 2782, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the left white hexagonal block on the table."}
+{"subtask_index": 2783, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the left white hexagonal block on the table."}
+{"subtask_index": 2784, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the left white hexagonal block on the table without moving."}
+{"subtask_index": 2785, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to form a stable grip."}
+{"subtask_index": 2786, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal part off the table and transports it toward the purple peg set."}
+{"subtask_index": 2787, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple peg by aligning its hole with the peg and inserting downward."}
+{"subtask_index": 2788, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block onto the leftmost purple peg on the wooden base and releases the block."}
+{"subtask_index": 2789, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the white hollow block on the front-left area of the table."}
+{"subtask_index": 2790, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hollow block on the front-left area of the table, with fingers closing and adjusting around the block."}
+{"subtask_index": 2791, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow hexagonal object from the table and transports it upward and toward the wooden rack with purple vertical rods."}
+{"subtask_index": 2792, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow hexagonal object with the front-left purple rod on the wooden rack, aligning the hole and lowering the object onto the rod."}
+{"subtask_index": 2793, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the white cylindrical block down onto the leftmost purple vertical post and releases the block."}
+{"subtask_index": 2794, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves empty downward and rightward to approach the white hexagonal block on the table near the wooden base."}
+{"subtask_index": 2795, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hexagonal block on the table and adjusts its grip slightly."}
+{"subtask_index": 2796, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white cylindrical block on the table surface."}
+{"subtask_index": 2797, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white cylindrical block from the table and transports it toward the purple peg on the wooden base."}
+{"subtask_index": 2798, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the purple peg of the wooden base."}
+{"subtask_index": 2799, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate_release: Right hand mates the white hollow block with the middle purple vertical rod and releases it."}
+{"subtask_index": 2800, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward toward the green hollow cube on the dark table surface."}
+{"subtask_index": 2801, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the green hollow cube on the dark table surface, with fingers adjusting to stabilize the grip."}
+{"subtask_index": 2802, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block from the table and transports it upward to the area above the pegboard."}
+{"subtask_index": 2803, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the green cubic block with the peg and inserts it onto the peg to complete assembly."}
+{"subtask_index": 2804, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: press_release: Right hand presses the green block downward along the purple rod on the wooden base and releases the block."}
+{"subtask_index": 2805, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward towards the white hexagonal block on the dark table surface."}
+{"subtask_index": 2806, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the dark table surface with fingers closing."}
+{"subtask_index": 2807, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the dark table surface without moving."}
+{"subtask_index": 2808, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white hollow cylinder off the table and transports it upward and leftward to the position above the purple rod on the wooden base."}
+{"subtask_index": 2809, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hollow cylinder onto the purple rod by lowering it to fit over the rod."}
+{"subtask_index": 2810, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the white block on the green post, with fingers opening and moving away from the block."}
+{"subtask_index": 2811, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand reaches downward toward the white hexagonal block on the table near the wooden base."}
+{"subtask_index": 2812, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form a stable grip."}
+{"subtask_index": 2813, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white hexagonal part on the table, with fingers adjusting to stabilize the grip."}
+{"subtask_index": 2814, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift: Right hand lifts the white hexagonal part off the table surface."}
+{"subtask_index": 2815, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: transport: Right hand transports the white hexagonal part to the position above the purple vertical rod."}
+{"subtask_index": 2816, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white hexagonal part onto the purple vertical rod by lowering and fitting it onto the rod."}
+{"subtask_index": 2817, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area near the wooden block rack toward the white hexagonal block on the table."}
+{"subtask_index": 2818, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand contacts the white hexagonal block on the table and adjusts fingers to form a stable grasp."}
+{"subtask_index": 2819, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the white hexagonal block on the table surface without moving."}
+{"subtask_index": 2820, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand grasps the white ring-shaped object on the table next to the green block, adjusting fingers to form a stable grip while the object stays on the table surface."}
+{"subtask_index": 2821, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the white ring-shaped object off the table and transports it leftward and upward toward the pegboard with multiple vertical pegs."}
+{"subtask_index": 2822, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand mates the white ring-shaped object with the purple peg on the pegboard by aligning the central hole and lowering the object down along the peg."}
+{"subtask_index": 2823, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: reach: Right hand moves downward from the area of the white bottle group on the wooden tray to approach the green cube on the table."}
+{"subtask_index": 2824, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: hold: Right hand holds the green cube on the table without moving."}
+{"subtask_index": 2825, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: grasp: Right hand adjusts its grasp on the green cubic block on the black table, with fingers slightly closing to stabilize the grip while the block stays on the table surface."}
+{"subtask_index": 2826, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: lift_transport: Right hand lifts the green cubic block off the table and transports it towards the wooden rack with white cylindrical objects."}
+{"subtask_index": 2827, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: mate: Right hand aligns the hole of the green cubic block with the purple-topped white post on the wooden rack, adjusting position and orientation to fit the block onto the post for assembly."}
+{"subtask_index": 2828, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: release: Right hand releases the green cubic block, with fingers opening gradually until the grip is fully released and the hand separates from the block."}
+{"subtask_index": 2829, "subtask": "Left hand: idle: Left hand remains empty at the left side of the table without moving. | Right hand: retreat: Right hand retreats from the assembly position, moving slightly to the right while staying empty."}
+{"subtask_index": 2830, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves towards the green hexagonal block placed on the table in front of the wooden base."}
+{"subtask_index": 2831, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to form a stable grasp on the green hexagonal block."}
+{"subtask_index": 2832, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand aligns the grasped green hexagonal block with the leftmost purple post on the wooden base and inserts it onto the post."}
+{"subtask_index": 2833, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the green hexagonal block on the black tabletop near the wooden base."}
+{"subtask_index": 2834, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the green hexagonal block and transports it above the leftmost purple peg on the wooden base."}
+{"subtask_index": 2835, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the green hexagonal block onto the leftmost purple peg on the wooden base."}
+{"subtask_index": 2836, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: place: Right hand places the green block onto the purple rod of the wooden base."}
+{"subtask_index": 2837, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downward towards the white block on the dark table surface."}
+{"subtask_index": 2838, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white block on the dark table surface."}
+{"subtask_index": 2839, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the purple post on the wooden base."}
+{"subtask_index": 2840, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand aligns the white hexagonal block with the purple post and inserts it downwards onto the post."}
+{"subtask_index": 2841, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downward towards the white hollow cylinder placed on the black tabletop."}
+{"subtask_index": 2842, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white hollow cylinder on the black tabletop."}
+{"subtask_index": 2843, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block off the tabletop and transports it towards the purple rod on the wooden rack."}
+{"subtask_index": 2844, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the purple rod of the wooden rack, aligning the block hole with the rod."}
+{"subtask_index": 2845, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: hold: Right hand holds the white hexagonal block on the purple rod without moving."}
+{"subtask_index": 2846, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reorient: Right hand adjusts the orientation of the white cylindrical block on the purple rod of the upper middle wooden base."}
+{"subtask_index": 2847, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table in front of the wooden base."}
+{"subtask_index": 2848, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand grasps the white hexagonal block on the table, with fingers closing around the block to form stable grip."}
+{"subtask_index": 2849, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white hexagonal block from the table and transports it above the empty purple rod on the wooden rack."}
+{"subtask_index": 2850, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white hexagonal block onto the empty purple rod on the wooden rack."}
+{"subtask_index": 2851, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: place: Right hand places the white cylindrical block onto the purple rod on the wooden base."}
+{"subtask_index": 2852, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downward towards the green cubic block on the black table surface."}
+{"subtask_index": 2853, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts fingers to form stable grip on the green cubic block on the table surface."}
+{"subtask_index": 2854, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the green cubic object from the black tabletop and transports it to above the purple rod on the wooden rack."}
+{"subtask_index": 2855, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the green cubic object with the purple rod on the wooden rack by lowering it onto the rod."}
+{"subtask_index": 2856, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downwards towards the white hexagonal block on the table."}
+{"subtask_index": 2857, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes fingers to grasp the white hexagonal block on the table."}
+{"subtask_index": 2858, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift: Right hand lifts the white cylindrical object off the black tabletop."}
+{"subtask_index": 2859, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: transport: Right hand transports the white cylindrical object towards the wooden rack with pegs."}
+{"subtask_index": 2860, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand aligns and inserts the white cylindrical object onto a peg of the wooden rack."}
+{"subtask_index": 2861, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: hold: Right hand holds the white cylindrical object on the peg of the wooden rack without moving."}
+{"subtask_index": 2862, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white cylindrical block onto the corresponding peg on the wooden base."}
+{"subtask_index": 2863, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves toward the white cylindrical block placed on the desktop."}
+{"subtask_index": 2864, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes its fingers to grasp the white cylindrical block on the desktop."}
+{"subtask_index": 2865, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift: Right hand lifts the grasped white cylindrical block upward."}
+{"subtask_index": 2866, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift_transport: Right hand lifts the white cylinder from the table surface and transports it to the position above the purple rod on the wooden base."}
+{"subtask_index": 2867, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white cylinder with the purple rod by lowering it onto the rod."}
+{"subtask_index": 2868, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: release: Right hand releases the white cylinder fitted on the purple rod."}
+{"subtask_index": 2869, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downwards toward the white hexagonal block on the black table without contact."}
+{"subtask_index": 2870, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand fingers close and adjust around the white hexagonal block to form a stable grip."}
+{"subtask_index": 2871, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: hold: Right hand holds the white hexagonal block on the black table without moving."}
+{"subtask_index": 2872, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift: Right hand lifts the white block from the black table surface."}
+{"subtask_index": 2873, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: transport: Right hand transports the white block towards the purple rod on the wooden rack."}
+{"subtask_index": 2874, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand mates the white block onto the purple rod by aligning and inserting it downward."}
+{"subtask_index": 2875, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: place: Right hand places the white block with purple rod onto the top of the bottle on the wooden tray."}
+{"subtask_index": 2876, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: reach: Right hand moves downward toward the green cube on the table surface."}
+{"subtask_index": 2877, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand closes fingers to grasp the green cube on the table surface."}
+{"subtask_index": 2878, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: hold: Right hand holds the green cube on the table surface without moving."}
+{"subtask_index": 2879, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: grasp: Right hand adjusts fingers to stably grasp the green block on the dark table surface."}
+{"subtask_index": 2880, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: lift: Right hand lifts the green block up away from the dark table surface."}
+{"subtask_index": 2881, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: transport: Right hand transports the green block towards the rightmost white cylinder with a purple rod on the wooden tray."}
+{"subtask_index": 2882, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: mate: Right hand aligns the hole of the green block with the purple rod and lowers the block onto the white cylinder."}
+{"subtask_index": 2883, "subtask": "Left hand: hold: Left hand holds the component with red part at the left side of the frame without moving. | Right hand: press: Right hand presses the green block down along the purple rod to fix it on the white cylinder."}
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+{"task_index": 0, "task": "Task: TicTacToe"}
diff --git a/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/v40_validation.json b/play_tic_tac_toe/season_POC22048_2026_06_29_19_23_00_train/lerobot_v2.1/meta/v40_validation.json
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@@ -0,0 +1,15 @@
+{
+  "status": "passed",
+  "episodes": 50,
+  "frames": 135908,
+  "video_frames": {
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+    "observation.images.wrist_left": 135908,
+    "observation.images.wrist_right": 135908,
+    "observation.images.head_right": 135908,
+    "observation.images.tactile_deform": 135908,
+    "observation.images.tactile_raw": 135908
+  },
+  "tcp_validation": "Exact float32 equality with each source arm TCP dataset sampled by its own aligned_index",
+  "language_loaded": 50
+}
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